Mobility assistance device

ABSTRACT

A mobility assistance apparatus includes first and second frames positioned on left and right sides of a user; a hinge arm mechanism coupled to the first and second frames; and a securing unit or a walking seat coupled to the frames to transfer at least a portion of the user&#39;s body weight from the legs and to transfer weight through the user&#39;s hip or pelvis to the first and second frame enabling the user to stand or work for an extended period without requiring the user&#39;s arms to hold the frame.

This application is a continuation of application Ser. No. 15/852,706which is a continuation in part of application Ser. No. 14/327,464 filedJul. 9, 2014, which claims priority to Provisional Application Ser. No.61/684,505, filed Aug. 17, 2012, the content of which is incorporated byreference.

BACKGROUND OF THE INVENTION

The preferred embodiment relates to the field of mobility assistancedevices that allow individuals to move from place to place in a standingor partially standing posture.

DESCRIPTION OF THE RELATED ART

Conventional mobility assistance devices used for walking, such ascrutches and walkers, typically require an individual to support theirbody weight alternating (or distributing) between their legs to arms andshoulders. This places stresses on ankle, knee, hip, wrist, elbow andshoulder joints, often times limiting the individuals' ability to usethese devices without significant pain or discomfort. Furthermore,because these devices require the individual to use their arms to moveabout, the individual's arms are not free to use for other purposes.Many of these individuals are forced to use a wheelchair for mobilitywhen they would prefer to stand and move about in a more erect posture.

Additionally, approximately 50% of people with mobility challenges arepreclinical. They do not use any mobility assistance device as currentlyavailable devices do not address their fundamental need to standcomfortably and safely to accomplish typical tasks of daily living. Themobility devices predominant in the market today generally interferewith the completion of these tasks, not facilitate the user's ability tocomplete them. The device disclosed in this document allows individualsto accomplish activities of daily living without interference from thedevice itself. The device addresses the unmet need of preclinicalindividuals as well as significantly improves on the state of the artfor many of the other individuals with more significant challengesstanding and moving about.

The disclosed innovations blur the line between a mobility device andfurniture. Since a primary objective of the device is to facilitate thecompletion of everyday tasks, a primary use will be the replacement ofchairs in the user's house, office of other locations where the userdesires to be.

Furthermore, as scientific study reveals, there are tremendous healthbenefits for people to avoid excess sitting. Use of the disclosed deviceto facilitate standing in the proper posture comfortably and safely forextended periods promote the use of this device to be used by thegeneral population at large, not just those with standing and mobilityproblems. The innovations disclosed in this document will help movesociety to avoid excess sitting and sedentary behaviors and towards asociety that predominantly stands comfortably and safely for extendedperiods of time.

U.S. Pat. No. 7,828,311 discloses a wheelchair that includes awheelchair frame, a pair of rear wheels and a pair of front wheelscarried by the wheelchair frame, a drive motor drivingly engaging atleast one of the pair of rear wheels and the pair of front wheels, apair of wheelchair tracks detachably carried by the wheelchair frame anda locomotion assist assembly carried by the wheelchair frame.

Remaining in a seated position for extended periods is detrimental to anindividual's health, negatively affecting basic body functions includingdigestive, cardio-vascular, and respiratory systems. Encouraging andenabling an individual to stand, especially if the individual can walkaround, can improve these body functions and help avoid deterioration ofhealth. Many individuals become dependent on wheelchairs rather thanremaining mobile in an upright posture because there is no practicalchoice available to them today. Problems with legs, joints and orbalance lead individuals to limit or eliminate walking, putting healthat risk.

Prosthetic devices can be considered as mobility assistance devices andin the context of this preferred embodiment they are consideredcomplementary. In fact, it is because of the challenges ofprosthetics-leg-wearing veterans that motivated the originating work onthis preferred embodiment. Prosthetic leg wearers have significantchallenges standing and walking for periods of time and suffer inparticular because of the stresses on the leg at the juncture of theprosthetic and the limb.

Over-reliance on conventional wheelchairs may aggravate problems withlegs, joints or balance, leading users to limit or eliminate walking. Asa result, wheelchair-dependent individuals may be putting their healthinto a potentially accelerating decline as they stop or limit walkingand reduce the time spent in standing posture.

SUMMARY OF THE INVENTION

In one aspect, a mobility assistance apparatus includes first and secondframes positioned on left and right sides of a user; a hinge armmechanism coupled to the first and second frames; and a harness coupledto the frames to transfer at least a portion of the user's body weightfrom the legs and to transfer weight through the user's hip or pelvis tothe first and second frame to stand or walk for an extended periodwithout requiring the user's arms to hold the frame.

In another aspect, a mobility assistance apparatus includes first andsecond frames positioned on left and right sides of a user; a hinge armmechanism coupled to the first and second frames; and means to remove atleast a portion of the user's body weight from the legs and transfer theweight through the hips or pelvis to the first and second frame thatdoes not require the user's arms to stand or walk for periods of time.

In another aspect, a walking assistance apparatus includes first andsecond frames positioned on left and right sides of a user; a hinge armmechanism coupled to the first and second frames; and a walking seatpositioned on the hinge arm to receive the user at a predetermined pointand a belt to secure the user to the walking seat, wherein the walkingseat and belt removes weight from the user's legs without requiring theuser's arm, and wherein the walking seat has a predetermined shapeproviding clearance for legs when the user stands, partially stands, orwalks for extended periods of time without requiring a wheelchair.

In yet other aspects, systems and methods are disclosed to providestanding and walking assistance to a person by positioning first andsecond frames on left and right sides of the user with a hinge armmechanism coupled to the first and second frames including a walkingseat positioned on the hinge arm to receive the person; positioning theuser on the walking seat and securing the user to the walking seat witha belt, a flip, a grasp or a combination of elements; standing whilecontacting the walking seat for support, wherein the walking seatprovides weight bearing support to comfortable and safe standing forextended periods of time; walking while using a treadmill whilecontacting the walking seat for support, wherein the walking seatprovides clearance for legs moving and a forward and backward motion;and walking while contacting the walking seat for support, wherein thewalking seat provides clearance for legs walking in a forward andbackward motion.

Implementations of the above aspects may include one or more of thefollowing. The walking seat can consist of two padded seat pans mountedon a seat frame, each supporting the corresponding side of the buttocks,each of which can independently pivot around a horizontal axis while theuser walks. The walking seat positions the user's body in the optimalposture to support extended use for standing or walking or standing andusing a treadmill. There are several preferred embodiments to secure theuse into the device such as a belt and buckle, a flip, a grasp, or acombination thereof. Each frame can have a height adjuster to adjust aframe height to fit the user. The height adjuster can be a manualextender with a core and a plurality of openings to select height, orthe height adjuster comprises a motorized extender. The motorizedextender can be a linear actuator or a pneumatic pump. The hinge armmechanism is foldable and can have three hinge points: one on a seatsupport and two points each to be connected to one of the first andsecond frames. The frame can have one or more wheels: a front wheel thatswivels 360 degrees around a vertical axis and a rear wheel that doesnot swivel. A brake assembly can stop the one or more wheels and becontrolled by the user to stop movement. The wheel(s) can be motorized.The wheel can be a hub wheel motor. A processor can control themotorized wheel. The movement of a paraplegics legs can be driventhrough FES (functional electrical stimulation). A processor can controlthe FES electrodes. This can be for walking or for exercise with atreadmill. A joystick can be provided to receive direction command, adisplay can provide visual feedback, and a processor can be connected tothe joystick and the display to guide the user. A smartphone can includean application to provide the same capabilities of the joystick. Anobstacle warning system can be provided. Buttons can be provided toselect move forward, move backward, turn right, turn left, and brake. Afoot rest can be placed on the front bottom of the first or secondframe. Other securing systems can be used including harness, belt, slingseat and latching straps. The frame members are of identical design andinterchangeable, or they can be different to support the specific needsof a unique individual. The frames and the hinge arm mechanism arecollapsible or they can be replaced with a no-collapsible form of adifferent design for use with a treadmill. A seat height adjusterincluding an air spring can be used for seat height adjustment. Shockabsorbers can be included to smooth out rough surface rides.

In another aspect, a walking assistance apparatus includes first andsecond frames positioned on left and right sides of the user, each framefurther comprising one or more motorized wheels coupling the frame tothe ground; a hinge arm mechanism coupled to the first and second frameswith a seat-support; a walking seat positioned on the seat-support toreceive the user at a predetermined point, wherein the walking seatprovides clearance for legs walking in a forward and backward motion;and a belt or other means to secure the user to the walking seat.

Implementations of the above aspect may include one or more of thefollowing. Each frame can have a first wheel that swivels 360 degreesaround a vertical axis and a second wheel that does not swivel. A brakeassembly can be connected to the one or more wheels and controlled bythe user to stop movement. The wheel can be a hub wheel motor. Aprocessor can control the motorized wheel. Other electronics can be usedincluding a joystick to receive direction command, a display to providevisual feedback, and a processor coupled to the joystick and the displayto guide the user. An obstacle warning system can help the usernavigate. A joystick or buttons can be used to select move forward, movebackward, turn right, turn left, and brake. Two seat pans can be mountedon a seat frame, each supporting a corresponding side of the buttocks,each of the seat pans independently pivoting around a horizontal axiswhile the user walks. Each frame can have a height adjuster to adjust aframe height to fit the user. The height adjuster can be a manualextender with a core and a plurality of openings to select height, orthe height adjuster comprises a motorized extender. The motorizedextender comprises a linear actuator or a pneumatic pump. The hinge armis foldable and comprises three hinges: one on the seat support and oneeach on each of the first and second frames. A foot rest can be providedat the bottom of the frame. The device can include a harness, belt,sling seat and latching straps. The frame members are of identicaldesign and interchangeable. The frames and the hinge arm arecollapsible. A seat height adjuster including an air spring can be usedfor seat height adjustment. One or more shock absorbers can smooth out arough ride. The walking assistance apparatus can provide an assistedwalking mode with a user walking with the moving motorized frames.

In a further aspect, a method to provide walking assistance to a personincludes positioning first and second frames on left and right sides ofthe user with a hinge arm mechanism coupled to the first and secondframes including a walking seat positioned on the hinge arm mechanism toreceive the person; positioning the user on the walking seat andsecuring the user to the walking seat with a belt; and walking whilecontacting the walking seat for support, wherein the walking seatprovides clearance for legs walking in a forward and backward motion.

Implementations of the above aspect may include one or more of thefollowing. The system allows in selecting an assisted walking mode withthe person walking with the moving motorized frames or alternativelyusing FES actuation of the user's legs or a combination of motorizedframe and FES actuation of the user's legs. Wheels can be used tosupport ambulation. The method includes providing one each frame a firstwheel that swivels 360 degrees around a vertical axis and a second wheelthat does not swivel. The system can embed a motor in a wheel. Thesystem could connect with electrodes in the user's legs. The methodincludes controlling a brake assembly coupled to the one or more wheelsto stop movement. The method further includes controlling a motorizedwheel with a processor, a portable computer, a table, or a smart phone.The system can receive a direction command with buttons or a joystickand displaying visual feedback to the person. The method includeswarning of obstacle(s). The method includes selecting a command to moveforward, move backward, turn right, turn left, or brake. The system caninclude a walking seat having a pair of seat panels extending from eachseat support frame, and wherein each seat panel is pivotally attached toa corresponding seat support frame. The method includes adjusting aframe height to fit the user. The hinge arm is foldable and comprisesthree hinges: one on the seat support and one each on each of the firstand second frames, comprising folding the hinge arm duringtransportation. The frame members can have identical design andinterchangeable, comprising collapsing the frames and the hinge armduring transportation. The user can adjust a seat height. The methodincludes providing one or more shock absorbers to smooth out a roughride. The method includes reducing overall depth and width for ease oftransportation. The method further includes swiveling rear wheelassemblies and front wheel assemblies 180 degrees inward towards thecenter of one frame, and repeating this step in an opposite orientationto reduce overall depth; and folding the hinge arm inward proximallyparallel to one side frames to reduce overall width. The method can beused for treating the person with a therapy. This can be done bygradually transitioning the person in position from a mostly seatedposture to a fully or nearly fully standing posture over the course oftherapy.

In yet another aspect, a method for performing ambulatory therapy for apatient includes positioning first and second frames on left and rightsides of the user with a hinge arm coupled to the first and secondframes including a walking seat positioned on the hinge arm to receivethe person; positioning the user on the walking seat and securing theuser to the walking seat with a belt; walking while contacting thewalking seat for support, wherein the walking seat provides clearancefor legs walking in a forward and backward motion; and transitioning inposition from a mostly seated posture to a fully or nearly fullystanding posture over the course of therapy.

Implementations of the above method may include one or more of thefollowing. The method includes starting the therapy at a height that theuser's legs project forward from the frames while sitting; andprogressively raising a seat height and walking with the device untilthe user reaches a predetermined vertical standing posture. Therapy canbe performed under the direction of a physical therapist or a healthprofessional. The method includes raising a device height in smallincrements during the therapy. The patient can walk without the framesupon completion of therapy. The patient can walk with the frames andmaintaining the final vertical standing posture upon completion of thetherapy. Alternatively, the patient can use the method with the deviceattached to a treadmill to simulate walking. The therapy increases userstrength, flexibility. The therapy also increases mobility,strengthening the heart and lungs, and controlling patient weight. Thepatient can walk with the frames in a hands-free manner. The methodincludes ambulating in a standing (legs vertical) or partially standing(legs between seated and standing position) posture to reduce stress onankle, knee, hip, wrist, elbow and shoulder joints or at the interfacewith a prosthetic leg. The method alternatively includes simulatedambulation in conjunction with a treadmill in a standing (legs vertical)or partially standing (legs between seated and standing position)posture to reduce stress on ankle, knee, hip, wrist, elbow and shoulderjoints or at the interface with a prosthetic leg. The method furtherincludes reducing or eliminating dependency on a wheelchair formobility. The method includes allowing the patient to walk for extendedperiods. The therapy includes providing support while traversingwheelchair accessible walkways, ramps, paths, rooms and other indoor andoutdoor facilities. The user can fold the frames and hinge arm into acompact form for transportation. The treatment includes walking on atreadmill with the frames of a different design from the mobilitydevice. The patient can walk without the device upon completion of thetherapy. The patient can also walk with the device in case of apermanent ambulatory disability. The walking seat provides clearance forforward and backward motion of legs walking. The device can provide asurface to support ischial tuberosities (sits bones) and allow transferof a body weight of the person to the walking seat. A secondary supportincluding a belt or other means can secure the person to the walkingseat.

In yet another aspect, a stand and work apparatus includes a treadmill;and a walking assistance apparatus positioned above the treadmill,including: first and second frames positioned on left and right sides ofthe user; a hinge arm coupled to the first and second frames with aseat-support; a walking seat positioned on the seat-support to receivethe user at a predetermined point, wherein the walking seat providesclearance for legs walking in a forward and backward motion; and a beltto secure the user to the walking seat.

Implementations of the above method may include one or more of thefollowing. Two seat pans can be mounted on a seat frame, each supportinga corresponding side of the buttocks, each of the seat pansindependently pivoting around a horizontal axis while the user walks.Each frame has a height adjuster to adjust a frame height to fit theuser. The height adjuster includes a manual extender with a core and aplurality of openings to select height, or the height adjuster caninclude a motorized extender. The motorized extender comprises a linearactuator or a pneumatic pump. The hinge arm is foldable and comprisesthree hinges: one on the seat support and one each on each of the firstand second frames. Each frame has one or more wheel: the first wheelswivels 360 degrees around a vertical axis and a second wheel that doesnot swivel. A brake assembly can be used to brake the one or morewheels. The device includes a harness, belt, sling seat and latchingstraps. The walker/treadmill can be used for exercising a user byproviding a walking assistance apparatus positioned above the treadmill.The exercise includes first and second frames positioned on left andright sides of the user; a hinge arm mechanism coupled to the first andsecond frames with a seat-support; a walking seat positioned on theseat-support to receive the user at a predetermined point, wherein thewalking seat provides clearance for legs walking in a forward andbackward motion; and securing by belt or other means the user to thewalking seat; and walking on a treadmill. Therapy can be provided. Thetherapy includes gradually transitioning the person in position from amostly seated posture to a fully or nearly fully standing posture overthe course of therapy. A surface can be provided to support the ischialtuberosities (sits bones) and to transfer a body weight of the person tothe walking seat. The therapy includes providing a secondary supportincluding a belt or other means to secure the person to the walkingseat. The patient can have sit-bones placed in a vertical orientation.The therapy uses a flatter, angled leading edge for the walking seat.

There are “heavy-” and “light-” weight variations of the motorizedoption of the device. The heavy-weight device leverages technologiestypically used by motorized wheelchairs or one or two wheeled “balancingdevices” an example being the Segway. The light-weight device replacesthe rear (non-castor) wheel assemblies with independent motor-driven hubwheels. The user places their feet on foot rests off of the groundsurface. These are controlled by the user through a joy-stick orsmartphone application and controller unit. These motorized versions caninclude motorized height adjustment features, collision-avoidancesensors, and either an LCD display or an interface for the user's smartphone.

The lightweight motorized version can be used in an “assisted walkingmode.” In the assisted walking mode the user walks along while thedevice moves along driven by the hub wheels (and without the foot restsin place). A self-propelled lawnmower is an analogous solution. This canbe particularly helpful for an individual during their rehabilitationperiod while the user gains more strength and capability in the affectedleg or when walking unassisted would otherwise prove too difficult(traversing up an inclined walkway, for example). Alternatively, a fifthmotor-driven hub wheel can be added to the rear of the non-powereddevice through an arm that attaches to the rear of the device to providethe propulsion and braking with control a joystick or smartphoneapplication and controller unit.

In another aspect, the device can be used in conjunction with arehabilitation therapy process. The user transitions over the course ofthe rehabilitation cycle from a mostly seated posture to a fully ornearly fully standing posture. The user would start with the device in arelatively low setting so that the legs project more forward from thedevice similar to when sitting in a chair. As the therapy proceeds andthe user improves and gains proficiency, the device height is raised insmall increments. This process continues until the user assumes asvertical a standing posture as deemed appropriate by the directinghealth professional. If the user is done with the therapy and no longerrequires the device (such as for a surgically repaired knee, forexample) the user can resume walking without the device. If the userwill continue to require the device to enable walking for the indefinitefuture (such as for a permanent leg disability, for example), the devicewill remain more or less at this setting going forward.

In another aspect, as a part of therapy or as a means to otherwiseimprove posture and health, the device may be used to allow anindividual to stand with improved posture, comfort and safety and notfor walking. The user may not be able to or may not want to walk in thiscase but prefers to use the device simply to receive the health benefitsof standing and improved posture. Many people who have been sitting fora prolonged time do not have the correct posture or the capability to doanything more than stand initially. Further, the objective of thetherapeutic use for standing may be to correct postural problems or toincrease strength of the core or to improve balance. At the appropriatetime in therapy, the therapist may choose to have the wheels installedand henceforth work with the user on walking skills. Further, in arehabilitation setting, the device can be used without wheels in arelatively low setting so the user's legs project more forward from thedevice similar to when sitting in a chair. As the therapy proceeds anduser gains proficiency as well as the postural improvements necessary tostand, the devise height is raised in small increments.

Additionally, the user may use the device for both walking assistanceand for standing assistance. The wheels may be either locked intoposition or completely removed from the device. For example, a personmay need to get accustomed to standing before any effort is made towalk. Or, they simply prefer to stand comfortably when they are notwalking. The user may also want to remove the wheels to provide a stablebase for exercising, cooking or other activities where standing ispreferred and walking is not required.

Variations of the preferred embodiment can include: alternative means todistribute weight from the legs (harness versus walking seat and belt);various alternative frame designs and orientations, various walking seatdesigns, scaled up or down versions to accommodate for body size andweight (children, for example); the use of wheels and use withoutwheels, motorized versus manual; and optional configurations(“stand-behind” walker mode, transport wheelchair), features andaccessories (wheel sizes and types, carrying baskets, shock absorbers,and other configurations).

Advantages of the mobility assistance devices or systems describedherein may include one or more of the following. The portable mobilityassistance device allows individuals to move about in a standing orpartially standing posture supported in a manner that can significantlyreduce the stresses and discomfort on ankle, knee, hip, wrist, elbow andshoulder joints or at the interface with a prosthetic leg. The deviceimproves the user's standing posture and gait. The device potentiallyreduces or eliminates the dependency on a wheelchair for mobility. Thedevice uses the walking seat and belt or the harness to remove weight,up to 100%, from the legs to enable the user to walk or stand. Secureconnection is provided with the device so stable that people withbalance problems can walk and stand. The device provides for weightremoval from the legs and stability over flat or wheelchair accessibleramps for assuring balance so that the person can walk. The device keepspeople in a standing or partially standing posture for longer periods oftime to provide a health benefit, even if they cannot walk or can onlywalk with motorized assistance with motorized versions and the walkingassistance mode. Because of its compact size, maneuverability, and thestanding or partially standing posture of the user, the device canpotentially enable the user to avoid costly renovations to house andoffice that would otherwise be necessary if the user was wheelchairbound. The device frees the arms of the individual to be more availableto use for other purposes. The preferred embodiment also provides stablesupport while traversing wheelchair accessible walkways, ramps, paths,rooms and other indoor and outdoor facilities as well as (whenappropriately outfitted) over a variety of other terrain. Additionally,the device is foldable into a compact form and capable of beingconveniently transported such as in an automobile trunk or as a checkeditem for an airplane. The system supports a disabled or elderly personduring ambulation or while standing so that he or she can stand, walk orexercise while minimizing risks of falls or injuries related thereto.The mobility provided can reduce the user reliance on the wheelchair. Byencouraging the user to stand and walk with aided support by the system,the system reduces causes of skin sores. The system encourages activestanding and walking with attendant increased blood flow. Pressure onthe buttock is reduced, and blood circulation is enhanced to minimizepressure or skin sores. The device minimizes skin sores as it eliminatesprolonged pressure and wetness on the skin.

Other advantages of the mobility assistance device may include one ormore of the following. The devices can be foldable which in extended orin use condition affords the comfort and convenience of supporting thedisabled or elderly, but which when in folded condition is compact andoccupies a side area defined substantially by the diameter of the floorto arm rest height distance. Such area reduction in combination withstate-of-the-art width reduction provides a mobility assistance devicewhich is accommodated and transportable within the reduced spaceavailable in the newer type smaller automotive vehicles. The foldabledevice affords side area reduction while retains the relatively low costand maximum strength and rigidity of unit side frame construction. Thedevice can have means for achieving side area reduction by controllablyand automatically shifting the driving wheel axes relative to the sideframe from their normal operating positions to place the chair in foldedcondition. In certain embodiments, the act of extending the chair fromfolded condition will controllably and automatically reposition themobility assistance devices to their normal operating positions whereinthe frames with wheels are secured for maximum efficiency in operation,balance and stability. The wheels can be removed to be used to assist instanding.

In addition to the ease of use and storage, the system reduces thenegative effect of prolonged sitting and maximizes the benefits ofstanding/walking. Sitting and lying down for extended periods of time isdetrimental to an individual's health, negatively affecting many basicbody functions including digestive, cardio-vascular, and respiratorysystems. Encouraging and enabling an individual to periodically changeposition to a standing or partially standing posture and especially ifthe individual can walk around can improve these body functions and helpavoid further deterioration of health.

The device is multi-functional and can serve as a conventional walkerwhen used without the belt (or alternative means) and walking seat. Theindividual can stand behind the device, getting support by holding ontothe handles, similar to the conventional walker. The user can use thedevice with the handles “as is” or, if they prefer, they can alsoreverse the direction of the handles. The device can easily convert intoa wheelchair for times when a user prefers to travel similar to aconventional transport wheelchair. The device can be used as analternative to sitting by allowing the user to stand comfortably, withor without the wheels installed. By installing the optional foot restsand sling seat and reversing the handles, the device operates as atransport wheelchair.

While the preferred embodiment can specifically help prosthetic-legwearing veterans, it is expected that it will also satisfy a broadermarket—includes the larger pool of leg amputees (who may or may not usea prosthetic), sufferers of degenerative joint diseases, as arehabilitation tool for joint replacement or after leg or joint surgeryto repair ligaments, tendons, bone or tissue, as a rehabilitation toolafter stroke or brain injury, those who have problems maintainingbalance, the elderly or others who suffer significant joint pain anddiscomfort when standing or walking.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an exemplary perspective view mobility assistance device10.

FIG. 2 shows an exemplary front view of device 10 with person.

FIG. 2a shows in more details an exemplary sit-bones positioning on thewalking seat.

FIG. 3 shows an exemplary side view of person in low (closer to seated)posture.

FIG. 4 shows an exemplary side view of person in low partially standingposture.

FIG. 5 shows an exemplary side view of person in high partially standingposture.

FIG. 6 shows an exemplary side view of person in full standing posture.

FIG. 7 shows an exemplary side view of device 10.

FIG. 8 shows an exemplary top view of device 10.

FIG. 9 shows an exemplary perspective view of device 10 fully opened.

FIG. 10 shows an exemplary perspective view of device 10 fully closed.

FIG. 11 shows an exemplary front view of device 10 fully opened.

FIG. 12 shows an exemplary front view of device 10 half way closed.

FIG. 13 shows an exemplary front view of device 10 fully closed.

FIG. 14 shows an exemplary side view of device 10 fully closed.

FIG. 15 shows an exemplary top view of device 10 fully closed.

FIG. 16 shows an exemplary exploded view of device 10.

FIG. 17 shows an exemplary detail back view of device 10.

FIG. 18 shows an exemplary side view of side frame.

FIG. 19 shows an exemplary rear view of hinge post.

FIG. 20 shows an exemplary detail view of handle height adjustment andlocking features.

FIG. 21 shows an exemplary cam lever side and top views.

FIG. 22 shows an exemplary rear view of hinge arm mechanism.

FIG. 23 shows an exemplary rear view of hinge arm mechanism, left andright arms separated.

FIG. 24 shows exemplary detail views of hinge arm mechanism lockingfeatures.

FIG. 25 shows an exemplary hinge arm mechanism locking cam levers.

FIG. 26 shows an exemplary side view of caster wheel assembly.

FIG. 27 shows an exemplary side view of rear wheel assembly includingbrake features.

FIG. 28 shows an exemplary detail view of height adjustment features forwheel assemblies.

FIG. 29 shows an exemplary front view of belt.

FIG. 30 shows an exemplary front view of belt, unlatched.

FIG. 31 shows an exemplary perspective view of walking seat.

FIG. 31a shows exemplary perspective, top and front views alternativewalking seat.

FIG. 32 shows an exemplary side view of handle and brake lever.

FIG. 33 shows an exemplary front perspective view of device 10 withsling seat installed.

FIG. 34 shows an exemplary front perspective view of device 10 inoptional usage configuration.

FIG. 35 shows an exemplary front perspective view of device 10 inoptional configuration as a wheelchair.

FIG. 36 shows an exemplary front perspective view of device 10M inoptional lightweight motorized configuration.

FIG. 37 shows an exemplary top view of sling seat.

FIG. 38 shows an exemplary perspective view of foot rest.

FIG. 39 shows an exemplary perspective view of joystick and LCD display.

FIG. 40 shows an exemplary perspective view of height adjustment motor.

FIG. 41 shows an exemplary side view of caster wheel assembly for usewith motorized height adjustment.

FIG. 42 shows an exemplary side view of hub wheel assembly.

FIG. 43 shows an exemplary side view of hub wheel.

FIG. 44 shows an exemplary side view of hub wheel with internal motorfeatures exposed.

FIG. 45 shows an exemplary front view of device 20 with person.

FIG. 46 shows an exemplary perspective view of device 20.

FIG. 47 shows an exemplary front view of device 20.

FIG. 48 shows an exemplary front detail view of harness installed ondevice 20.

FIG. 49 shows an exemplary front view of harness.

FIG. 50 shows an exemplary detail of harness attachment features.

FIG. 51 shows an exemplary perspective view of device 20 withoutharness.

FIG. 52 shows an exemplary front view of device 20 without harness.

FIG. 53 shows an exemplary perspective view of alternative version ofdevice 20A.

FIG. 54 shows an exemplary Side, front and top view of device 20Awithout handles and wheels.

FIG. 55 shows an exemplary detail cut-away view of hinge features fordevice 20A.

FIG. 56 shows an exemplary perspective view of device 30.

FIG. 57 shows an exemplary front view of device 30 with person.

FIG. 58 shows an exemplary side view of device 30 with person.

FIG. 59 shows an exemplary side view of device 30.

FIG. 60 shows an exemplary front view of device 30.

FIG. 61 shows an exemplary top view of device 30.

FIG. 62 shows an exemplary perspective view of hinge arm mechanismassembly with walking seat for device 30.

FIG. 63 shows an exemplary perspective exploded view of hinge armmechanism with walking seat for device 30.

FIG. 64 shows an exemplary perspective view of device 40.

FIG. 65 shows an exemplary perspective view of device 50.

FIG. 66 shows an exemplary perspective view of device 50 showing brakefeatures, but no harness.

FIG. 67 shows an exemplary side view of handle for device 50.

FIG. 68 shows an exemplary front view of open travel case.

FIG. 69 shows an exemplary side view of closed travel case.

FIG. 70 shows an exemplary front, top and side views of bottom wheelhousing for travel case.

FIG. 71 shows an exemplary front view of open travel case with device.

FIG. 72 shows an exemplary side cut-away view of travel case withdevice.

FIG. 73 shows an exemplary side view of closed travel case with device,separated bottom wheel housing.

FIG. 74 shows an exemplary side view of closed travel case with device,connected bottom wheel housing.

FIG. 75 shows an exemplary perspective view of heavyweight motorizeddevice 60.

FIG. 76 shows an exemplary perspective view of heavyweight motorizeddevice 70.

FIG. 77 shows an exemplary perspective view of powered sled.

FIG. 78 shows an exemplary perspective view of joystick and LCD.

FIG. 79 shows an exemplary perspective view of sled cover.

FIG. 80 shows an exemplary perspective view of powered sled with sledcover removed.

FIG. 81 shows an exemplary exploded view of powered sled with sled coverremoved.

FIG. 82 shows an exemplary use of the walker with a treadmill forrehabilitation purposes.

FIG. 83 shows an exemplary treatment process using the above devices.

FIGS. 84-86 show alternative designs that replace the belt with “swivelarms.”

FIGS. 87A-87B show an exemplary swing arm attachment to allow a user torest on the frames and use a computer, laptop, or tablet, among others.

FIGS. 88A-88B show exemplary usage scenarios where the user is standingwith the walking seat and the arm in an extended position for work andwhere the user is resting with the arm folded.

FIGS. 89-91 shows various alternatives to the belt that use the walkingseat (and variations) as the by providing alternative upper pelviscapture mechanisms to the belt and buckle system.

FIGS. 91-92 show a “capture arm” arrangement that is a combination ofthe “flip” and “grasp” arrangements.

FIGS. 93-96 show various exemplary Upper Pelvis Capture integrated intothe Walking Seat assembly.

FIG. 97 shows an exemplary support device for Standing without Wheels.

FIG. 98A-98C show another embodiment for Rehabilitation Use (No Wheels).

FIG. 99 shows an exemplary walking device with Functional ElectricalStimulation (FES).

DETAILED DESCRIPTION

Referring to the drawings, an illustrative embodiment of a mobilityassistance device is generally indicated by reference numeral 10. Alsoshown in FIG. 1 are the primary structural components of device 10.These include two side frames 3, two handles 4, a hinge arm mechanism 5,and 2 hinge posts 6. The belt 2 is rigidly attached to handles 4, whichconnects through the hinge posts 6, to side frames 3 while securing thehinge arm mechanism with seat support frame members 5.

In one embodiment, the device 10 includes a support frame having a pairof generally elongated, parallel, spaced-apart side frames 3. Frontwheel assembly 7 is provided on the front of each frame 3. In someembodiments of the device 10, a cam lever rigidly fixes each wheelassembly 7, 8 to the corresponding side frame 3. In one embodiment, theheight of the frame member 3 relative to the ground can be controlled byvarious mechanisms, including the spring buttons and hole features asshown in FIG. 1 or motorized height extenders such as linear motor, asdiscussed in more details below.

In the embodiment of FIG. 1, a foldable hinge arm mechanism 5 extends inspaced-apart relationship between the respective side frames 3. Whenfully extended and locking cam levers 11 employed, the hinge armmechanism 5 fixedly connects the side frames 3 to each other. A seatsupport extends from the center of the hinge arm mechanism 5.

In one embodiment, the side frames 3 and hinge arm mechanism 5 surroundthe user. In yet other embodiments, two frames could be in front andbehind the user and the user would enter the device laterally in thiscase.

Referring now to FIG. 1 in more detail, the mobility assistance device10 includes a walking seat 1 on which the user positions their“sit-bones” and an adjustable belt 2 that, in combination, holds theuser firmly in place. A walking seat is a device that primarily differsfrom a bicycle seat in that it allows for walking while still supportingthe user's weight. Unlike a bicycle seat, a walking seat generallyrequires a belt or other apparatus working in concert with the walkingseat to hold the user in position.

The walking seat differs from a bicycle seatin that it does not have a“horn,” which would be unbearably uncomfortable if used for walking withdevice 10. Also, the walking seat positions the sit-bones relativelyclose to the front edge of the walking seat and therefore does notinterfere with the forward and backward motion of the legs while theuser is walking. A typical bicycle seat positions the sit-bones towardsthe back of the seat which does not allow such ease of forward andbackward movement to allow walking with a full range of motion. Thewalking seat 1 can be provided on the seat support 5 c of hinge arms 5.The walking seat can consist of either a single padded seat pan 1 bmounted on a seat frame, or alternatively two padded seat pans, 1Ac and1Ad, mounted on a seat frame. In the case of a walking seat with twopadded seat pans, each padded seat pan, 1Ac and 1Ad, supports thecorresponding side of the buttocks, each of which can independentlypivot around a horizontal axis while the user walks as shown in FIG. 31a. A seat strap extends from the walking seat 1 and can be pulleddownwardly to facilitate folding of the walking seat 1 as the seatpanels pivot with respect to the seat hinge for purposes of storing themobility assistance device 10 when not in use. In some embodiments ofthe mobility assistance device 10, a frame spring extends between eachsupport frame member and the wheels of the mobility assistance deviceside frame 3 to provide cushioning for the user. In yet otherembodiments, the walking seat can be cushioned with a spring or othersuitable compressible materials for shock absorption.

The user is positioned and held by the opposing forces of the walkingseat 1 and belt 2 so that the user's weight (as much as 100%) istransferred from the user's legs to device 10. When operating the device10, the user walks by using as much or as little force as desired (orcomfortable) through one or both of their legs. In one embodiment,caster wheel assembly 7 and rear wheel assembly 8 allow both turning andforward movement with a minimum of force required through the users legsso that user's with even severe limitations can safely and convenientlypropel themselves about.

A pair of rear wheel assemblies 8 (one of which is illustrated inFIG. 1) is rotatably mounted on the rear of the mobility assistancedevice frame 3. Each rear wheel assembly 8 typically includes a rearwheel axle which is rotatably mounted on wheel mount shaft 8 e. A rearwheel hub may be provided on the rear wheel axle. A rear wheel rim, onwhich is mounted a small rubber roller or tire 8 d, is generallyconcentric with the rear wheel hub. Multiple spokes connect the wheelrim to the rear wheel hub. In some embodiments, each of the spokes maybe a spring to provide shock-absorbing capability between the rear wheelrim and the rear wheel hub. In certain embodiments, an electric drivemotor is provided on the mobility assistance device frame 3 anddrivingly engages one wheel axle (front, rear, or center, as shown inFIGS. 75 and 76). In one embodiment, the motor can be integrated intothe wheel to form a hub wheel motor, as discussed in more details below.

The mobility assistance device 10 includes a walking seat 1 and belt 2.Walking seat 1 connects through hinge arm mechanism 5 to the side frames3. Belt 2 connects through handles 4 and hinge posts 6 to the sideframes 3. The hinge arm mechanism 5 provides rigid support horizontallyto hold vertically and rigidly in place the side frames 3. The sideframes 3 connect to wheel assemblies 7 and 8, firmly holding wheelsassemblies 7 and 8 in a vertical position. In one embodiment, onedistinction between the wheels assemblies 7 and 8 is that wheel 7swivels 360 degrees around the vertical axis of the assembly while wheel8 does not swivel. Wheels assemblies 7 and 8 are offset (7 c and 8 crespectively) from vertical shafts (7 a and 8 a respectively) thatconnect to the side frames 3. This offset allows a maximum of stabilityto prevent tipping while minimizing the overall size of the device 10.Wheels assemblies 8 also have braking features 12 a and 12 b, shown inFIG. 27.

The hinge arm mechanism 5 has three hinges, one at its center 5 h 2 andone hinge cylinder 5 h 1, 5 h 3 respectively at the connection points tothe side frames 3. Hinges 5 h 1, 5 h 2 and 5 h 3 each smoothly pivot asshown in details below. These hinges 5 h 1, 5 h 2, and 5 h 3 enable thedevice 10 to be folded into a substantially smaller size for transportand storage. Hinge arm mechanism 5 is attached approximately ½-⅔ fromthe bottom of frame members 3. While providing rigid structural supportholding in place frame members 3, structural member 5 does not interferewith the movement of the user. The hinges 5 h 1, 5 h 2 and 5 h 3 ofhinge arm mechanism 5 lock rigidly into place using cam lever locksshown in FIG. 25.

In one embodiment, the adjustability for the device height is providedat the interface of side frames 3 and the wheel assemblies 7 and 8.Height adjustment features 6 b used to raise or lower handles 4 at theinterface with hinge posts 6 are of identical design to those used forthe device height adjustment on side frames 3.

In one embodiment, a control box 17, fitted with a control lever orjoystick, is provided on the mobility assistance device frame andconnected to the drive motor to facilitate directional control of thedrive motor. The control lever 17 a may offer positions betweenrearward, neutral and forward positions to facilitate rearward, neutraland forward driving positions of the mobility assistance device 10. Thecontrol box 17 may be provided in any position which is accessible to aperson (not illustrated) resting on the mobility assistance device 10M,60 or 70, such as on the walking seat 1, for example. For motorizedembodiments, a battery is secured to the mobility assistance deviceframe and connected to the control box through battery wiring.

In one embodiment shown in FIG. 1, each handle 4 provides a manual brakehandgrip 12 c, shown in FIG. 32, that in turn communicates through cable12 a actuation with a brake lever 12 b mounted on wheel mount shaft 8 eof wheel 8 shown in detail in FIG. 27. Actuation of the cable 12 acauses the brake lever 12 b to pivot about a mounting point on wheelmount shaft 8 e and contact the tire 8 d and apply a braking force tothe wheel 8.

An alternative braking system is a caliper system mounted to wheelassembly 8 of device 10. The caliper system has two pivoting main arms,each supporting a brake pad positioned on opposing sides of the wheelrim. Actuation of the cable 12 a causes the arms to pivot about amounting point(s) such that the brake pads move together toward eachother to apply a braking force to the wheel 8.

In other embodiments of the mobility assistance device 10, a brake leverengages the wheel axle of at least one wheel 7-8 to facilitate manualbraking of the wheel 7-8, according to the knowledge of those skilled inthe art. Moreover, as discussed below, the brake can be used as aregenerative brake to charge the battery to result in a smaller batterysize with faster recharge period.

A pocket may be provided on a bottom surface of the walking seat 1. Forexample, the pocket may be provided on each seat panel of the walkingseat 1. A notch 1 c may be provided on the front edge of the walkingseat to provide pressure relief to the user's tail bone. In someembodiments, a footrest 14 with strap 14 a can be provided near thebottom of the frame 3.

The device 10 counteracts the negative effect of prolonged sitting in awheelchair. Remaining in a seated position for extended period of timeis detrimental to an individual's health, negatively affecting manybasic body functions including digestive, cardio-vascular, andrespiratory systems. Encouraging and enabling an individual toperiodically change position to a standing or partially standing postureand especially if the individual can walk around can improve these bodyfunctions and help avoid further deterioration of health.

The device 10 can function as a conventional walker. The individual canstand behind the device and walk, getting support by holding onto thehandles 4, similar to the conventional walker. The user can use thedevice with the handles 4 “as is” or, if s/he prefers, s/he can alsoreverse the direction of the handles.

The device can be converted into a wheelchair. By installing foot rests14, reversing the handles 4 and installing a sling seat 13, the device10 enables a second person to push the user from the rear of the device.

The mobility assistance device 10 encourages the user to ambulate usinghis or her legs as much as possible. In contrast, regular wheelchairusers spend long hours seated or lying down which can lead to reducedblood circulation, deficiencies in digestion, mental uneasiness andsignificant general discomfort. The device 10 keeps the body up andmoving as much as possible, helps enable a healthy and empoweredlifestyle and enables walking as a regular part of a daily fitnessprogram.

The device 10 can be used in conjunction with a rehabilitation therapyprocess. The user, under the direction of a physical therapist or otherhealth professional, transitions in position from a mostly seatedposture to a fully or nearly fully standing posture over the course oftherapy. The user would start with the device in a relatively lowsetting so that the legs project more forward from the device similar towhen sitting in a chair. As the therapy proceeds and the user improvesand gains proficiency, the device height is raised in small increments.This process continues until the user assumes as vertical standingposture as deemed appropriate by the directing health professional. Ifthe user is done with the therapy and no longer requires the device(such as for a surgically repaired knee, for example) the user canresume walking without the device. If the user will continue to requirethe device to enable walking for the indefinite future (such as for apermanent leg disability, for example), the device will remain more orless at this setting going forward.

As illustrated below in FIGS. 3-6, using the device 10 will help theuser progress through a rehabilitation program to restore the user'sability to walk. Additional benefits include increased strength,flexibility, improved mobility, strengthened heart and lungs, whilehelping control weight. FIG. 2 shows a front view of the device 10 witha disabled person secured into position by belt 2. The person's handsare lifted in this view to show that hands are not necessary in order toeffectively move about using the device 10. This view shows in anothermanner the arrangement of the handles 4, hinge posts 6, hinge armmechanism 5, side frames 3, and caster wheel assemblies 7. The user isshown in the fully standing posture and demonstrating movement withoutusing the arms for support.

The portable mobility assistance device allows individuals to move aboutin a full standing (legs vertical) or partially standing (legs anywherebetween seated and standing position) posture in a manner that cansignificantly reduce the stresses and discomfort on ankle, knee, hip,wrist, elbow and shoulder joints or at the interface with a prostheticleg. In other embodiments, “partially standing” would encompass thecrouch/squat position of the user.

The device 10 potentially reduces or eliminates the dependency on awheelchair for mobility, allowing the user to walk about for potentiallyextended periods. The device 10 allows the arms of the individual to bemore available to use for other purposes. The device 10 also providesstable support while traversing wheelchair accessible walkways, ramps,paths, rooms and other indoor and outdoor facilities as well as (whenappropriately outfitted) over a variety of other terrain. The device 10adapts to provide a comfortable seated position for times the individualprefers to sit. The preferred embodiment is foldable into a compact formand capable of being conveniently transported such as in an automobiletrunk or as a checked item for an airplane.

FIG. 2 is a front view of a person using the mobility assistance device10 and supported by the walking seat and the belt. The user faces awayfrom the hinge arm mechanism 5 and is approximately centered between thetwo side frames 3. Handles 4 are situated at similar heights on theright and left side of the person's body at approximately theindividual's waist height. Hinges 5 h 1, 5 h 2 and 5 h 3 lock rigidlyinto position and securely hold side frames 3 parallel to each other andperpendicular to hinge arm mechanism 5. Hinges 5 h 1, 5 h 2 and 5 h 3are used to fold the device into a convenient size for storage andtransport. Up to 100% of the person's body weight is supported throughthe walking seat 1 with belt 2 to hinge arm mechanism 5 and hinge posts6 respectively, to side frames 3 and onto the ground or floor throughthe wheel assemblies 7 and 8.

FIG. 2A shows a detail rear view of the user positioned on the walkingseat of device 10. This view shows an overlay of the user's pelvis andhips to highlight the position of the ischial tuberosities (sit-bones)onto the walking seat and the relative position of the belt 2 duringoperation of device 10.

The walking seat does not have a “nose” or “horn” typical of a bicycleseat. This eliminates the transfer of body weight through the pubic areawhich would otherwise occur. Additionally, the walking seat 1 positionsthe sit-bones towards the front of the walking seat so that the legs arefree to move forward and backward when walking. In a standing position,there is much less surface of the sit-bones available, and that surfaceis more vertically oriented as compared to when seated. So to use thesit-bones to support the body weight while standing and walking as withdevice 10, a secondary support (i.e. the belt 2) is necessary inaddition to the walking seat 1.

FIG. 3 shows the posture of a user who is just beginning use and gettingacclimated with the device 10. As a part of a rehabilitation process, amedical practitioner allows time for the user to gain strength and getaccustomed to using the affected leg by starting the user at arelatively low posture. In the view, the user is positionedapproximately half-way between a normal seated posture and a fullstanding posture with legs projected out relatively more horizontallythan later in the rehabilitation cycle.

FIG. 4 shows a secondary position in device 10 by the user as arehabilitation process progresses. In this view, the user is positionedat approximately ⅔ of a fully standing posture. This signifies that userhas become more proficient at operating device 10 while gaining strengthand capability in the affected limb.

FIG. 5 shows the user at an advanced posture in the device 10 ofapproximately 80% of a fully standing posture. At this stage, the useris generally quite comfortable moving about in the device 10 and hasprogressed towards later stages of the rehabilitation cycle.

FIG. 6 shows the user at the most advance posture in the device 10 of95% or more of a fully standing posture. The user has gone through allor nearly all of the rehabilitation cycle. Should the user requiredevice 10 for the long term, this is the desired posture for ongoing useto maximize long-term health and lifestyle benefits.

FIG. 7 shows a side view of the device 10. This view shows from anotherdirection the handles 4, hinge posts 6, hinge arm mechanism 5, sideframes 3, rear wheel assembly 8, and caster wheel assembly 7.

FIG. 8 rounds out the initial overview of the device 10 by showing thetop view. Again, shown is the walking seat 1, belt 2, side frames 3,handles 4, hinge arm mechanism 5, caster wheel assemblies 7 and rearwheel assemblies 8.

FIG. 9 shows the fully open front perspective view of device 10. In thisorientation, hinge arm mechanism 5 is perpendicular to the side frames3. Rear wheel assemblies 8 extend towards the rear of device 10 inalignment with side frames 3. Caster wheel assemblies 7 similarly extendforward in alignment with side frame 3 (in opposite direction as rearwheel assemblies 8). This fully open configuration of the device 10 isshown without belt 10 to allow a clearer view of the remaining device 10major structural components. This is the orientation of device 10 whenoperated by the user.

FIG. 10 by contrast shows device 10 fully closed from perspective view.In this closed position, the device is ready to be transported, such asin the trunk of a car or checked in as baggage of an aircraft. Rearwheel assemblies 8 and caster wheel assemblies 7 are swiveled 180degrees inward towards the center of side frames 3 in complete oppositeorientation as shown in FIG. 9. This reduces the total depth of thedevice by about 35%. Hinge arm mechanism 5 is folded inward so that itsalignment is nearer parallel to side frames 3. This folded position ofhinge arm 5 reduces the width of the device by approximately 67%. Thisconfiguration minimizes the size and bulk of the device 10, making it ofa form that is highly transportable and easily stowed in a minimum ofspace.

FIG. 11 shows the front view of device 10 in the fully openconfiguration. Hinge arm mechanism 5 is made of left horizontal arm 5 a,right horizontal arm 5 b, hinge cylinders 5 h 1 and 5 h 3, and centerhinge 5 h 2. When fully open, device 10 has each component orientedalong a single plane.

FIG. 12 shows the front view of device 10 in half open configuration. Inthis view, hinge arm 5 swivels around hinge cylinders 5 h 1 and 5 h 2,and center hinge 5 h 3. Left horizontal arm 5 a and right hinge arm 5 bare now oriented at about 90 degrees to each other.

FIG. 13 shows the front view of device 10 in the fully closedconfiguration. Left hinge arm 5 a and right hinge arm 5 b are noworiented much closer to parallel to each other at approximately 15degrees to each other.

FIG. 14 shows the side view of the device 10 fully closed. In this viewhinge arm mechanism 5 is folded inward on itself, rear wheel assemblies8 and caster wheel assemblies 7 are oriented 180 degrees opposite theirfully open position.

FIG. 15 shows the top view of device 10 fully closed. Hinge armmechanism 5, rear wheel assemblies 8, and caster wheel assemblies 7 areoriented to minimize the device 10 footprint to its smallest form.

FIG. 16 is an exploded view of device 10 showing each major component inits most helpful view. This highlights and clarifies the basic forms ofeach. Walking seat 1 is shown in front view. Belt 2 is shown in frontview. Side frames 3 are shown in side views. Handles 4 are shown in sideviews. Left hinge arm 5 a and right hinge arm 5 b are shown in frontviews. Hinge posts 6 are shown in front views. Caster wheel assemblies 7are shown in side views. Rear wheel assemblies 8 are shown in sideviews.

FIG. 17 is a detail rear view of the upper portion of device 10. Thisview shows the locking features for the walking seat 1, hinge cylinders5 h 1 and 5 h 3, center hinge 5 h 2, and hinge posts 6. Belt 2 isfastened securely to handles 4 by bolts, nuts and washers. Cam levers 9are bolted to hinge posts 6 to provide secondary locking of the handles4 to the hinge posts 6. Rotating upward releases the cam lever 9,allowing changing handle 4 height up or down by pushing spring button 4b (see FIG. 20) through height adjustment feature 6 b. Cam lockinglevers 11 tighten or release the hinge cylinders 5 h 1 and 5 h 3 andcenter hinge 5 h 2 for opening or closing device 10. The individual canoptionally stand and walk behind the device, getting support by holdingonto the handles, similar to the conventional walker either with thehandles “as is” or, if they prefer, with the direction of the handlesreversed.

FIG. 18 shows the side frame 3. Side frame 3 uses the same secondarylocking cam levers 9 as does hinge posts 6. Again, by lifting cam lever9 the primary height adjustment (shown in later figures) can beactivated.

FIG. 19 shows the hinge post 6. This view has the cam lever 9 and boltfeature removed to show the hinge post 6 basic form. Feature 6 a is thecam lever bolt attachment and slot through with the cam lever 9 tightensor releases the handle 4. Once cam lever 9 is released, feature 6 benables handle 4 to raised or lowed by depressing a spring button 4 b(see FIG. 20).

FIG. 20 shows a detail of the bottom portion 4 a of handle 4 thatincludes the spring button 4 b in both the open (released) and closed(locked) positions. Rotating upward cam lever 9 allows spring button 4 bto be depressed through height adjustment feature 6 b so that handle 4can be raised or lowered in position relative to hinge post 6. Rotatingdownward cam lever 9 provides secondary locking once spring button 4 bsnaps into one of the holes of height adjustment feature 6 b.

FIG. 21 shows side view and top view of cam lever 9. Cam lever rotatesup or down by pivoting around bolt in hole 9 a by applying pressure tocam handle 9 b. Cam 9 c increases or decreases the interference with thehandle 4 when opened and closed.

FIG. 22 shows an assembled front view of hinge arm mechanism 5 and itslocking components. When device 10 is in use, left hinge arm 5 a locksto right hinge arm 5 b using a cam lever lock 11. Similarly, left hingearm 5 a and right hinge arm 5 b lock to hinge posts 6 using cam levers11. Seat 1 is similarly locked into position by cam lever 11 positionedon seat holder 5 c.

FIG. 23 shows the hinge arm mechanism 5 front exploded view. Left hingearm 5 a is securely fastened to right hinge arm 5 b by hinge cylinder 5d, which allows unrestricted axial rotation between hinge arms 5 a and 5b.

FIG. 24 shows a front detail view of hinge cylinder 5 h 1 both with andwithout the cam locking lever. Slot 5 e provides a window through hingecylinder 5 h 1 that allows locking cam lever 11 to be fastened to hingepost 6. Lifting cam locking lever 11 releases force from hinge cylinder5 h 1 on hinge post 6, allowing unrestricted axial rotation between thetwo elements for the length of slot 5 e (approximately 80 degrees).Lowering the cam locking lever 11 produces a locking force that rigidlyfixes the relative positions of hinge cylinder 5 h 1 and hinge post 6.Hinge cylinder 5 h 3 is similarly operated with the other hinge post 6and center hinge 5 h 2 also operates similarly with hinge cylinder 5 d(rotations allowed is 180 degrees at this interface).

FIG. 25 shows the side and top views of cam locking lever 11. Raising orlowering cam handle 11 e causes cam feature 11 a to rotate aroundcylinder 11 b which, through bolt 11 d, either presses or releaseswasher 11 c to lock or release the hold between the hinge components (5h 1, 5 h 2, 5 h 3 with hinge post 6 or hinge cylinder 5 d).

FIG. 26 is a side view of the caster wheel assembly 7. This view showsin profile the height adjustment shaft 7 a, which has the spring button7 b proximate to its top. The caster wheel 7 d swivels 360 degrees andhas smooth rolling bearings within the bearing shaft 7 e. The offset 7 callows for the castor to be located forward for excellent weightdistribution and stability while still allowing the device 10 to beclosed into a compact form for transport. As an alternative embodiment,offset 7 c can be eliminated to allow an even more compact form for theuser during operation. For smaller people and tight indoor quarters,reduction or elimination of this offset may be desirable.

FIG. 27 is a side view of rear wheel assembly 8 which includes heightadjustment shaft 8 a that includes spring button 8 b. Offset 8 c allowsthe non-castor wheel 8 d to be offset for maximum weight distributionand stability while allowing the device 10 to be closed into a compactform for transport. Rear wheel assembly 8 also contains mounting shaft 8e which holds braking features including the spring loaded brake lever12 b that connects with the braking system through brake cable 12 a. Asan alternative embodiment, offset 8 c can be eliminated to allow an evenmore compact form for the user during operation. For smaller people andtight indoor quarters, reduction or elimination of this offset may bedesirable.

FIG. 28 shows the detail view of the height adjustment features of wheelassemblies 7 and 8 in both an open, detached state as well as closed andconnected state. Once cam lever 9 is released, the spring button 7 b or8 b can be depressed to raise or lower the height of device 10.

FIG. 29 shows the belt 2 with both left belt side 2 a 2 and right beltside 2 a 1 latched by female 2 d and male 2 e latch elements. The belt 2is bolted to the handle 4 using eyelet holes 2 b. The belt loops 2 csecurely hold belt strap 2 f while allowing for length adjustability toaccommodate various sizes of users.

FIG. 30 shows belt 2 unlatched and clarifying that it consists of twosides including left belt side 2 a 2 and right belt side 2 a 1. Belt 2latches enable quick connection and quick release of the user and aresimilar in design and operation as those used in automobile or aircraftseat belts.

FIG. 31 is a front perspective view of walking seat 1, including shaft 1a, cushion 1 b and comfort notch 1 c. Walking seat 1 works inconjunction with belt 2 to apply opposing forces to the hip/pelvis areaof the user to transfer body weight from the legs to the device 10. Bydesign, the walking seat 1 allows the legs to move relatively freelyforward and backward while walking in device 10.

FIG. 31a shows perspective, top and front views of alternative walkingseat 1A. Walking seat 1A has two padded seat pans 1Ac and 1Ad thatsupport the corresponding side of the buttocks, each of which canindependently pivot around a horizontal axis while the user walks. Byallowing the set pans to pivot independently, the walking seat is shapedto conform more closely to the contours of the user's buttocks whilestill allowing the legs to comfortably move forward and backward in anatural walking motion. Some users may prefer this alternative walkingseat form.

FIG. 32 is a side view of the handle 4 that includes brake handle 12 cand attaches to brake cable 12 a. A foam grip 4 a provides comfort overthe handle body 4 b when the user holds the handle 4. Belt 2 is boltedto handle 4 at through-hole 4 c. Height adjustment shaft 4 d includesspring button 4 b that enables discreet height levels in conjunctionwith hinge post 6 height adjustment feature 6 b.

FIG. 33 shows device 10 with the optional sling seat 13 installed. Slingseat 13 provides a comfortable resting position for the user when theyare not walking with the device. The sling seat 13 attaches to sideframes 3 to allow a secure seated position.

FIG. 34 shows the optional device 10 configuration with the handles 4mounting in the reverse direction. Device 10 can be used as a “typical”stand-behind walker with the user having the option of using in thismanner with or without reversing handles 4.

FIG. 35 shows the optional device 10 configuration as a transportwheelchair. With the sling seat 13 installed, the handles 4 reversed indirection and the addition of foot rests 14, the user has the option ofbeing pushed around by a second party. The walking seat 1 acts as abackrest for short-term use but an additional seat backrest (not shown)can be added for additional comfort for longer term use.

Next, “heavy-” and “light-” weight variations of a motorized option ofthe device 10 will be discussed. A heavy-weight device leverages partscommonly used by motorized wheelchairs. The light-weight device replacesthe rear (non-castor) wheel assemblies with independent motor-drivenwheels. These are controlled by the user through a joy-stick which usesa controller unit that is also used on conventional joy-stick operatedmotorized wheelchairs. The motorized embodiments are described next.

FIG. 36 shows the device 10 conversion to a lightweight motorizedmobility assistance device 10M. This configuration includes componentscommon with device 10, including seat 1, belt 2, side frames 3, handles4, hinge arm mechanism 5, and hinge posts 6. Device 10M operates ineither power-assisted walking mode or full motorized mode.

With foot rests 14 installed, the device 10M is used for fully poweredmobility assistance. Without the foot rests 14 installed, the user walksalong as the motor assists by either partially or fully propelling thedevice. Either approach uses the joystick with LCD display 17, motordriven height adjustment capabilities leveraging caster wheel assemblies21 and powered by hub wheel assemblies 15.

Hub wheel assemblies 15 include wheels that have the drive motorsincorporated into the wheel itself. Height adjustment is accomplishedthrough height adjustment motors 19. Device 10M has a controller unit 16and sensors 18. Controller unit 16 takes the user instructions deliveredthrough the joystick/LCD unit 17 to raise or lower the height, power thedevice forward, stop the device, and turn the device.

Sensors 18 are used by the controller unit 16 to “see” and avoidcollisions with objects. These sensors 18 can also enable the device 10Mautomate operation. This includes detecting tracking tape or other meansto determine location.

FIG. 37 shows a top view of the sling seat 13. This seat is constructedof high strength fabric and is easily installed on device 10, 10M orother preferred embodiments by securing the sling seat 13 to side frames3 using secure male and female latching connections 13 a and 13 b. Slingseat 13 rolls or folds into a convenient small form to be stowed whennot in use.

FIG. 38 shows a perspective view of foot rest 14 which includes footstrap 14 a, foot bed 14 b, and footrest snap feature 14 c that attachesto offset 7 c of caster wheel assembly 7 or caster wheel assembly 21.Right and left foot rest 14 are identical, one is simply rotated 180degrees and installed as compared to the other.

FIG. 39 shows a perspective view of the joystick/LCD control unit 17.This unit includes the joystick 17 a, button controls 17 b and LCDdisplay 17 c. Joystick/LCD unit also has an interface for the user'ssmartphone. A user's smart phone can be used in place of the buttoncontrols 17 b and LCD display 17 c. The joystick/LCD control unit 17 canbe operated in voice activation mode through the smartphone.

FIG. 40 shows the height adjustment motor 19 that includes a gear 19 athat raises and lowers the device 20 height per instruction of the userthrough the joystick/LCD unit 17.

FIG. 41 shows caster wheel assembly 21 that includes linear travelfeature 21 a that is driven by height adjustment motor 19 and gear 19 ato raise or lower the device 20.

FIG. 42 is the rear wheel assembly 15 that includes the hub wheel 15 c,hub wheel power and control cable 15 a, and linear travel feature 15 bthat is driven by height adjustment motor 19 and gear 19 a to raise orlower the device 20.

FIG. 43 is a side view of the hub wheel 15 that includes the hub wheelpower and control cable 15 a and hub motor cover 15 b. By operating bothleft and right hub wheels 15 in synch at equal revolutions per minute(RPM) and the direction, device 10M moves either forward or backwardaccordingly. Device 10M can turn in a small radius when hub wheels areoperated in opposite directions simultaneously. A wider turn can beachieved by operating the right hub wheel 15 at a higher RPM than theleft hub wheel 15 to turn left and vice versa for the other direction.Directions for each hub wheel 15 speed and direction are provided fromthe joystick/LCD controller unit 17.

FIG. 44 is a view of hub wheel 15 with the cover 15 b removed to showthe motor windings 15 c and the power and control cable 15 a. The hubwheel 15 allows the device 20 to be relatively lightweight but stillmaneuver similarly to the larger, heavier version described later.

Viewing FIGS. 43-44 in combination, the hub wheel motor 15 is enclosedby the hub cap or cover 15 b and a tire supporting rim. A rubber wheelcan be mounted on the rim. The hub cap has an opening through which acable 15 a is inserted therethrough. The cable 15 a provides power aswell as control signals to the motor. The cable 15 a passes through theshaft to enter an internal chamber of the motor housing. The cable 15 ahas a plurality of electrical conducting wires which are connected toelectronic components mounted on a printed circuit board. All wires arenot shown and the number of the wires will vary based on controlfunctions required. The printed circuit board is then fixedly mounted ona mounting plate in the motor. In one embodiment, the mounting plate ismade of heat conductive material like aluminum and is fixedly attachedby means of a set screw to the center shaft, which is capable of beingrotated about rotational axis. It is to be noted that the rotationalaxis is located parallel to the longitudinal center axis. The locatingof the parallel axis provides for smoother operation of the motor.Mounted interiorly of the motor are a series of magnets 15 c. Thesemagnets are located directly adjacent but slightly spaced from a seriesof radially located coils. There are multiple numbers of the coils eachof which comprises electrically conductive wires that are wound about aseries of radially disposed spokes called stator laminations, which arenot shown. The outer, ring-shaped permanent magnet (stator) rotates andthe inner metallic core (rotor) is fixed. When the motor is switched on,the static rotor stays still while the stator spins around it. The wheelrubber or tire is attached to the motor, and as the outer part of themotor rotates, the wheel (or wheels) powers the vehicle forward.

Sensors can be mounted in the hub wheel motor. An encoder such as alinear sensor, a capacitive sensor, a Hall-effect encoder or an LEDbased sensor can be used. For Hall effect sensors, by sensing thecurrent provided to a load and using the device's applied voltage as asensor voltage it is possible to determine the power dissipated by themotor. Hall effect devices used in motion sensing and motion limitswitches can offer enhanced reliability in extreme environments. Asthere are no moving parts involved within the sensor or magnet, typicallife expectancy is improved compared to traditional electromechanicalswitches. Additionally, the sensor and magnet may be encapsulated in anappropriate protective material. In one implementation, the Hall effectsensor is used as a direct replacement for the mechanical breaker pointsused in earlier automotive applications. Its use as an ignition timingdevice in various distributor types is as follows. A stationarypermanent magnet and semiconductor Hall effect chip are mounted next toeach other separated by an air gap, forming the Hall effect sensor. Ametal rotor consisting of windows and tabs is mounted to a shaft andarranged so that during shaft rotation, the windows and tabs passthrough the air gap between the permanent magnet and semiconductor Hallchip. This effectively shields and exposes the Hall chip to thepermanent magnet's field respective to whether a tab or window ispassing though the Hall sensor. A processor or controller can provideanti-skid functions for extended vehicle handling enhancements. Thecontroller can also control the motor 15 to provide power regeneration.In one embodiment, a regenerative brake control circuit uses a choppercircuit which is first closed thereby to form a closed loop comprisingat least a motor, a reactor and a chopper. The motor is used as agenerator during the braking operation and therefore a current generatedby the motor flows in the closed loop thereby to store electromagneticenergy in the reactor. A voltage drop in the chopper and other junctionpoints is so small that the voltage across the reactor is substantiallyequal to the voltage generated by the motor. Next, the chopper is openedto thereby connect the series-connected motor and reactor to powersource. The voltage across the motor and the reactor becomes higher thanthe source voltage and power is returned to the power source. With thedecrease in the energy stored in the reactor, the voltage across theseries-connected motor and reactor drops, and when it is decreased to alevel lower than the source voltage, the current flowing to the powersource is reduced accordingly to zero. By closing again the choppercircuit after the decrease of the current to the power source, the motorcurrent is increased to thereby raise the voltage across the reactoragain. Then, again connecting the motor circuit to the power source, areverse current again flow to the power source. With repetition of theabove process the motor current, that is, regenerative brake current canbe controlled.

FIG. 45 shows a front view of mobility assistance device 20 with aperson positioned in the device. Device 20 replaces the walking seat 1and belt 2 with harness 23. The user's weight (as much as 100%) istransferred from the user's legs through harness 23. When operating thedevice 20, the user walks by using as much or as little force as desired(or comfortable) through one or both of their legs. Caster wheelassembly 7 and rear wheel assembly 8 allow both turning and forwardmovement with a minimum of force required through the users legs so thatuser's with even severe limitations can safely and conveniently propelthemselves about. In these regards, device 20 is considered functionallyequivalent to device 10.

Also shown in FIG. 45 are the primary structural components of device20. These include two side frames 3, two handles 22, a hinge armmechanism 24, and 2 hinge posts 6. The harness 23 is rigidly attached tohandles 22, which connects through the hinge posts 6, to side frames 3while securing the hinge arm mechanism 24. These structural members areessentially identical to device 10 with the exception of hinge armmechanism 24 which does not have the accommodation for the walking seat1 and handles 22 are extended in length to accommodate harness 23. Thedevice of FIG. 45 can be used in conjunction with a rehabilitationtherapy process. The user, under the direction of a physical therapistor other health professional, transitions in position from a mostlyseated posture to a fully or nearly fully standing posture over thecourse of therapy. The user would start with the device in a relativelylow setting so that the legs project more forward from the devicesimilar to when sitting in a chair. As the therapy proceeds and the userimproves and gains proficiency, the device height is raised in smallincrements. This process continues until the user assumes as verticalstanding posture as deemed appropriate by the directing healthprofessional. If the user is done with the therapy and no longerrequires the device (such as for a surgically repaired knee, forexample) the user can resume walking without the device. If the userwill continue to require the device to enable walking for the indefinitefuture (such as for a permanent leg disability, for example), the devicewill remain more or less at this setting going forward.

FIG. 46 shows device 20 in a front perspective view which includes twoside frames 3, two caster wheel assemblies 7, two rear wheel assemblies8, two handles 22, a hinge arm mechanism 24, and hinge post 6. Theharness 23 is rigidly attached to handles 22, which connects through thehinge posts 6, to side frames 3 while securing the hinge arm mechanism24. Hinge arm mechanism 24 is perpendicular to the side frames 3. Rearwheel assemblies 8 extend towards the rear of device 20 in alignmentwith side frames 3. Caster wheel assemblies 7 similarly extend forwardin alignment with side frame 3 (in opposite direction as rear wheelassemblies 8). This is the orientation of device 20 when operated by theuser.

FIG. 47 shows the fully open front perspective view of device 20 showinganother view of harness 23 connected to handles 22. FIG. 48 shows afront view of harness 23 connected to handles 22 through attachmentstraps 25. Harness 23 is held securely by bolt 23 a at approximately atthe same height as handles 22. This view shows harness latches 23 b,waist belt 23 c and leg belts 23 d. The weight of the user is supportedby a combination of waist belt 23 c and leg belts 23 d and transferredto handles 22 by attachment straps 25. This is functionally equivalentto device 10's use of walking seat 1 and belt 2 in supporting andtransferring the user's weight.

FIG. 49 is a front view of the harness 23 again showing the details ofharness latches 23 b, waist belt 23 c and leg belts 23 d, while FIG. 50shows attachment straps 25 and depicts how they latch and can beseparated from harness 23 and harness latches 23 b.

FIG. 51 is a front perspective view of device 20 without the harness 23to show how the form of handles 22 and hinge arm 24 differs from thecorresponding elements of device 10 but how the structure is otherwisesimilar. FIG. 52 is a front view of device 20 without the harness 23 toshow how the form of hinge arm 24 differs from the corresponding elementof device 10 but how the structure is otherwise similar.

FIG. 53 shows an alternative form of the device 20A, including avariation on handles 26, the hinge arm mechanism 27, and side frames 28.Device 20A similar is shown without the harness 23 attached for clarityin this view. Device 20 shares many common components with devices 10and 20, including caster wheel assemblies 7 and rear wheel assemblies 8.

FIG. 54 shows side, front and top views of the structural elements ofdevice 20A, including side frames 28 and hinge arm mechanism 27. FIG. 55shows a detail cut-away view of the hinge and locking features of device20A. Side frame 28 contains pull-pin 28 b mounted on flange 28 a torigidly lock the position with hinge arm mechanism 27. Pull pin 28 bincludes spring 28 c. Pulling up on the pull pin 28 b withdraws a pinand allows free axial movement around the hinge bolt 31 contained inhinge cylinder 27 a. The hinge swings freely due to bearings 29. Thishinge and locking mechanism is functionally equivalent to the mechanismdescribed earlier for device 10.

FIG. 56 shows a front perspective view of another form of the mobilityassistance device 30. Device 30 shows alternative design for side frame32. The view does not show belt 2 that is used with device 30. Hinge armmechanism 33 is essentially similar to hinge arm mechanism 27 of device20 except that it includes the seat attachment features similar to hingearm mechanism 5 of device 10. Walking seat 34 is similar to walking seat1 of device 10 but is depicted slightly differently. When operating thedevice 30, the user walks by using as much or as little force as desired(or comfortable) through one or both of their legs. Caster wheelassembly 7 and rear wheel assembly 8 allow both turning and forwardmovement with a minimum of force required through the users legs so thatuser's with even severe limitations can safely and conveniently propelthemselves about.

FIG. 57 shows a front view of device 30 including a person positioned inthe device. Device 30 is functionally similar to device 10, howeverdevice 30 is designed to allow more unrestricted movement of the user'supper body. Device 30 has no elements that protrude above the user'swaist. In particular Device 30 provides the user more freedom ofmovement of the upper body because of the lack of handles. Some advanceduser may prefer device 30 without the braking features shown in laterfigures.

FIG. 58 shows the side view of device 30 including a person walking. Theview shows that no components of the walker extend beyond the user'swaist thereby providing freedom of movement of the upper body.

FIG. 59 shows the side view of device 30 not including the belt 2, whileFIG. 60 shows the front view of the device 30 not including the belt 2.FIG. 61 shows a top view of device 30 including belt 2.

FIG. 62 shows the hinge arm mechanism 33 in front perspective with thewalking seat 34 installed. Hinge arm mechanism 33 is show in its openand locked form, locked by pull pin 28 b. FIG. 63 shows an explodedfront perspective view of the hinge arm mechanism 33 and walking seat34. The seat attachment feature includes a cam lever lock 11. Theprimary difference between walking seat 1 and walking seat 34 is thebent seat post 34 b.

FIG. 64 shows a side perspective view of another form of the mobilityassistance device 40. Device 40 shows alternative design for side frame37. The view shows belt 2 that is used with in conjunction with walkingseat 34 to fixedly hold the user in place. Device 40 uses the same hingearm mechanism 33 walking seat 34 of device 30. The primary differencebetween device 40 and device 30 is the inclusion of handles 36. Thesehandles 36 are in the form of a “tee” and provide a comfortable placefor the user to hold onto, should they choose. When operating the device40, the user walks by using as much or as little force as desired (orcomfortable) through one or both of their legs. Caster wheel assembly 7and rear wheel assembly 8 allow both turning and forward movement with aminimum of force required through the users legs so that user's witheven severe limitations can safely and conveniently propel themselvesabout.

FIG. 65 shows a side perspective view of another form of the mobilityassistance device 50. Device 50 uses harness 23 to secure the user intoposition. Device 50 uses the same hinge arm mechanism 27 of device 20.Device 50 otherwise uses essentially the same components as device 40.When operating the device 40, the user walks by using as much or aslittle force as desired (or comfortable) through one or both of theirlegs. Caster wheel assembly 7 and rear wheel assembly 8 allow bothturning and forward movement with a minimum of force required throughthe users legs so that user's with even severe limitations can safelyand conveniently propel themselves about.

FIG. 66 shows a side perspective view of device 50 without the harness23 to more clearly show the form of device 50.

FIG. 67 shows the handle 36 used for both device 40 and device 50. Thehandle height adjustment features a similar spring button as used indevice 10.

FIG. 68 shows an open view of the carrying case 39 that includes leftside 39 a, right side 39 d, foam padding 39 b and 39 c, while FIG. 69shows carry case 39 in closed state. Feature 39 e mates securely intobottom wheel housing 41, shown in more details in FIG. 70.

FIG. 70 shows bottom wheel housing 41. Bottom wheel housing 41 isseparable from case 39 to allow the person transporting the device toroll the walker and case, if they so choose to do so rather than tocarry it.

FIG. 71 shows the walker installed in the open carrying case 39 andwheel housing 41 is necessarily not installed at this state. FIG. 72shows a side cutaway section view of the carrying case 39 with a walkerand without the bottom wheel housing 41 installed. FIG. 73 shows a sideview of the carrying case 39 with a walker and without the bottom wheelhousing 41 installed. FIG. 74 shows a side view of the carrying case 39with the bottom wheel housing 41 installed.

FIG. 75 shows a front perspective of the heavyweight motorized mobilityassistance device 60. Device 60 uses the side frames 32, hinge armmechanism 33, seat 34 from device 30 with joystick/LCD 17 of device 10M.Device 60 also uses belt 2, but not shown in this view for clarity.These are mounted on powered sled 43. The user operates the devicesimilarly to device 10M. Device 60 is suitable for use in similarsettings as motorized wheelchairs. It is more capable of handlingdeficits in the surface over which it travels as compared to device 10M.Similar to device 30, it does not have handles.

FIG. 76 shows a front perspective of the heavyweight motorized mobilityassistance device 70. Device 70 uses side frames 28, handles 26, hingearm mechanism 33, seat 34 with joystick/LCD 17 of device 10M. Devise 70also uses belt 2, but not shown in this view for clarity. These aremounted on powered sled 43. The user operates the device similarly todevice 10M. Device 70 is suitable for use in similar settings asmotorized wheelchairs and scooters. It is more capable of handlingdeficits in the surface over which it travels as compared to device 10M.

FIG. 77 shows a perspective view of the powered sled 43, includingmounting shafts 43 a to fasten to side frames 32 or 28, front casterwheels 43 b, rear caster wheels 43 c, drive wheels 43 d and sled cover44. Both sets of caster wheels can rotate 360 degrees withoutrestriction.

FIG. 78 shows joystick/LCD unit 17 with mount 42 for use on device 60.In this embodiment, the LCD unit can be a dedicated LCD driven by aprocessor electrically coupled to the joystick and LCD and programmed toactuate the motor as desired. A system host controller is responsiblefor managing all aspects of the device 10M, 60 or 70 operation. Itdetermines operation of the device 10M, 60 or 70 based on theappropriate stimuli for the device's mode of operation. The controllercaptures input controls for “forward and reverse” motion and “leftright” steering. The system receives any commands from a control paneland drives the motors at selected speed. Maintenance mode will overrideany setting of the mode switch except parked. When in parked mode thecontroller controls the drive control section so that the motors and orgearboxes are in neutral mode and no brake or lock is applied. When inparked mode, the controller controls the drive control section such thatthe motors are disabled and the gearboxes and or brakes are applied. Thecontroller manages all auxiliary functions of the device including theselection and indication of operational modes as well as interlocks thatare interference or safety related. The controller takes input from acollision detection system, collision avoidance system and or keep outsystems and controls movement in accordance with prescribed parameterbase data. The controller controls all LED operating status indication.The controller provides audible annunciation by way of Beeps for anystatus change. The controller maintains a logging process of all deviceoperation and use that can be extracted for external analysis ifrequired. The controller maintains a register of allowable hours of useand will prevent commencement of operation if the hours have beenexceeded. The controller monitors battery condition and will advise ifbattery health has diminished below a preset operating margin. Thecontroller has provision for data and software update via a computerport such as a USB port. The controller has provision for in device 10M,60 or 70 updating of allowable hours such updating to be by eitherkeypad encrypted entry triggered from the host controller serial numberor by USB port with an encrypted update and destroy process. Themonitoring of the number of hours of use allow the system to track whenpower will be low and thus halt operation of the unit before powerfailure.

The system preferably has the capability of recording the operationaltime of the device 10M, 60 or 70. Preferably the device 10M, 60 or 70can alert a remote monitoring system whether the operational time isapproaching its allocated time. Preferably all usage of the device 10M,60 or 70 is recorded. The device 10M, 60 or 70 preferably has anoverride system where the electrical current powering the wheels 15 or43 d increases up to a threshold level to keep the wheels turning. Whenthe threshold level is reached or exceeded the current to the motor ispreferably stopped. The override system is preferably activated when thedevice 10M, 60 or 70 moves up a very steep slope, when there is too muchweight on the device 10M, 60 or 70 and when one or more wheels losetraction. In another embodiment the device 10M, 60 or 70 may have aweight sensor that detects whether the weight of the device 10M, 60 or70 is over a predetermined limit and if so the device 10M, 60 or 70stops. In another embodiment the device 10M, 60 or 70 may have a lateralsensor to detect sideways tipping movement of the device 10M, 60 or 70.In another embodiment the device 10M, 60 or 70 may have a gradientsensor that is able to sense the incline of a gradient and if over apredetermined limit, the processor will prevent the device 10M, 60 or 70from continuing movement in the inclined direction.

In other embodiments, the controller can be a smart phone runningsuitable software to control the motors through a wireless link such asBluetooth (or a wired link). The phone would include the LCD and wouldreceive input from the joystick by USB cable or by Bluetoothtransmissions.

In yet other embodiments, the device 10M, 60 or 70 has a collisionavoidance system that enables the device 10M, 60 or 70 to avoid or stopbefore it contacts an object. The device 10M, 60 or 70 may include acollision avoidance system that has a plurality of infrared rangingtransceivers spaced about the device 10M, 60 or 70. The collisionavoidance system preferably includes infrared charge coupled device(CCD) range sensors located about the device 10M, 60 or 70 and capableof detecting objects between 0.01 and 5 meters and more preferably up to1.6 meters from the sensor. The collision avoidance system can haveguard bands that provide an outer boundary and an inner boundary aboutthe device 10M, 60 or 70. Preferably an alarm and or response inaccordance with the processor programming is actuated when an objectenters the outer or inner boundaries. The outer boundary is preferablyset between 1 and 2 meters and more preferably 1.2 meters from thedevice 10M, 60 or 70. The inner boundary is preferably set between 0.01and 1 meters and more preferably 0.3 meters for the front of the device10M, 60 or 70 and 0.08 meters for the sides of the device 10M, 60 or 70.Preferably there are rules forming part of the processor programmingthat direct the operation of the device 10M, 60 or 70 when an object isdetected by the infrared CCD sensors. The device 10M, 60 or 70 may alsoinclude a satellite navigation system to assist in controlling themovement of the device 10M, 60 or 70 in a defined area. Alternatively,markers can be sensed by the controller to guide device movement toreach a predetermined location in the house, for example. Such markerscan be wireless or can be magnetic or optical. For example, a linesensor can track and detect the line. The line sensor can be made usingIR sensors. The position\number of these sensors depends on thecomplexity of the track to be solved. Once the position of the device10M, 60 or 70 on the line is read, a decision has to be made to move thedevice so that the line is in the center of the device. Various otherlocal positioning methods known to those skilled in the art can be used.

FIG. 79 shows a perspective view of sled cover 44 that includes foot bed44 a, mounting shaft opening 44 d, drive wheel opening 44 c and shroud44 b that covers the drive system 43 f and suspension 43 h. Sled cover44 provides a rigid skin to protect and hide from view the underlyingcomponents of the sled while also providing a platform for the user'sfeet.

FIG. 80 shows the powered sled 43 with sled cover 44 removed to showinternal major components, Powered sled 43 is constructed of mountingposts 43 a, front wheels 43 b, rear wheels 43 c, drive wheels 43 d,batteries 43 e, drive system 43 f, suspension 43 h, and controller unit43 g. By operating both left and right drive wheels 43 d in synch atequal revolutions per minute (RPM) and the same direction, devices 60and 70 moves either forward or backward accordingly. Devices 60 and 70can turn in a small radius when the drive wheels are operated inopposite directions simultaneously. A wider turn can be achieved byoperating the right drive wheel 43 d at a higher RPM than the left drivewheel 43 d to turn left and vice versa for the other direction. Controlfor each drive wheel 43 d speed and direction are provided from thejoystick/LCD controller unit 17 in conjunction with controller unit 43g.

FIG. 81 shows the exploded view of the powered sled 43 with sled cover44 removed to show more clearly the internal major components, Poweredsled 43 is constructed of mounting posts 43 a, front wheels 43 b, rearwheels 43 c, drive wheels 43 d, batteries 43 e, drive system 43 f,suspension 43 h, and controller unit 43 g.

In more detail, still referring to the preferred embodiment of FIGS.1-81, the mobility assistance devices 10, 10M, 20, 20A, 30, 40, 50, 60and 70 transfer body weight from the legs to the “sit bones” orotherwise more broadly distributed across the pelvis either through awalking seat with belt or a harness. When is use, the individual's legsare used to move the device (for self-propelled embodiments) rather thanfully supporting the individual's weight. Several positions are possiblefrom a full standing posture with the legs essentially vertical (in thiscase, the individual's heels may even be off the ground and movementdriven using the “ball” or front portions of the feet), to partiallystanding posture with the legs positioned forward of the body (thighsnot fully vertical, entire foot may be engaged).

FIG. 82 shows an exemplary use of the device 10 with a treadmill 46 forrehabilitation purposes. In this embodiment, a low profile slimtreadmill 46 is positioned below the device 10 and below the walkingseat. The treadmill 46 together with the device 10 allows the disableduser to perform walking or running aerobic-type exercise while the userremains in a relatively stationary position so that long periods ofwalking exercise can be done, despite the user's leg disabilities orbalance problems. Device 10 coupled with the treadmill 46 provide asignificant health benefit to those who otherwise may not be able toexercise their legs and achieve a full cardio-vascular workout. Thisembodiment with the treadmill 46 allows the user to exercise in aconfined space that would otherwise require a large area. The treadmill46 generally has a base that the disabled patient can walk on, a pair ofparallel, spaced rollers journalled in the base, and belt carried by therollers. A suitable motor powers one of the rollers, thereby moving thebelt with the rollers. A moving upper surface of the belt provides arunning/walking surface. A forward post extends up from the base forsupporting a control panel, which typically has controls for turning thetreadmill on and off and for varying the speed of the belt. The controlpanel often has indicators for selectively displaying operationalinformation such as speed, distance traveled, and time. The user maypress a suitable button on the control panel to toggle between two ormore different displays.

FIG. 83 shows an exemplary treatment process using the above devices.The process starts by positioning first and second frames on left andright sides of the users with a hinge arm mechanism coupled to the firstand second frames including a walking seat positioned on the hinge armmechanism to receive the person (102). Next, the patient is instructedto comfortably position their sit-bones on the walking seat and then tosecure the user with the belt, adjusted firmly but comfortably, to thewalking seat (104). The patient then walks while contacting the walkingseat for support, wherein the walking seat provides clearance for legswalking in a forward and backward motion (106). The patient graduallytransitions in position from a mostly seated posture to a fully ornearly fully standing posture over the course of therapy (108). Thistreatment continues until the user assumes as vertical a standingposture as deemed appropriate by the directing health professional. Ifthe user is done with the therapy and no longer requires the device(such as for a surgically repaired knee, for example) the user canresume walking without the device. If the user will continue to requirethe device to enable walking for the indefinite future (such as for apermanent leg disability, for example), the device will remain more orless at this setting going forward.

FIGS. 84-86 show alternative designs that replace the belt with “swivelarms” which pivot around, ratcheting as they go to provide theequivalent function of the belt to secure the user in place. When theuser pushes the bottom on the top and the arms release outward andthereby release the user from the device.

The device frames can be used simply to help someone stand comfortably.The user may not be ready yet to walk around or may not want to use itfor walking, but simply want to be supported when he or she stands. So,the user may use a version without wheels or just use it with wheelslocked when he or she wants to stand more so s/he can reduce her timesitting. S/he does not intend to use it for walking.

In other embodiments, the user can use the LifeGlider as support forworking on computers without sitting on a chair. FIGS. 87A-87B show anexemplary swing arm attachment to allow a user to rest on the frames anduse a computer, laptop, or tablet, among others. This is an attachmentthat enables the frames to position a tablet or a notebook PC inposition for use. As shown, the attachment unit is mounted on the frameswith the holder for the tablet or PC swiveled out for clarity. Thearticulated arm can swivel, raise, lower and otherwise be moved andsecured into position at any number of heights, angles and position bythe user. The system can be used as a stand-up desk and allows the userto stand and work effectively all day without fatigue. Office workerstypically sit all day at their desks and such environment causes theworkers to become less energetic as time goes by. With the system, theworkers are partially active even as they work and thus they no longerget fatigued. In tests, at the end of the day, workers have as muchenergy and their legs feel as fresh as their morning conditions.

Turning now to FIG. 87A-87B, exemplary walking seats with AttachmentArm(s) are shown. Both mobility and furniture embodiments can beextended by attaching arms that allow a portable work environment. Theuse of these arms can support to the use of computers, tablets, smartphones, cameras and many other devices. They can also hold trays andtables for portable uses beyond electronics. These arms can hold othermedical equipment such IV units, monitoring apparatus, oxygen supplysystems and other apparatus as may be necessary in a hospital setting orother institutional or rehabilitation setting. These arms can allowpeople to remain standing while doing a variety of functions. This canbe working, studying or walking and moving with medical equipment aspart of a recovery program. These arms can also be adapted to enablecarrying items both lightweight and heavy. This may be convenient forenvironments where user's need to transport items. Examples can befactory, warehouse, retail and delivery services employees, These armscan be conveniently folded and stowed and/or removed for times when notin use. FIGS. 88A-88B show exemplary usage scenarios where the user isstanding with the walking seat and the arm in an extended position forwork and where the user is resting with the arm folded.

Alternatives to the Belt are detailed next. The above discussions showexemplary means to secure the user's pelvis and center of gravity bymeans of a “walking seat” and an upper pelvis capture mechanism. Theuser's pelvis is secured by such a means as to allow the user to walkwith proper gait and with proper posture. The foregoing a belt andbuckle system for the upper pelvis capture mechanism that in conjunctionwith the walking seat to fully secure the user's pelvis and center ofgravity.

FIGS. 89-91 shows various alternatives to the belt that use the walkingseat (and variations) as the by providing alternative upper pelviscapture mechanisms to the belt and buckle system.

FIG. 89 shows a “flip” arrangement that rotates around a vertical axison each side of the user and captures the hip points or upper portion ofthe pelvis in a manner equivalent to the belt and buckle. The “flip”opens laterally to allow entry by the user and ratchets closed to form afirm hold on the user's hip points or upper boney structure of thepelvis. The “flip” is released, allowing exit by the user by a pushbutton, a lever or other mechanism to open the “flip.” Activation of the“flip” can be through either manual or motorized means.

FIG. 90 shows a “grasp” arrangement that rotates around a horizontalaxis on each side of the user and captures the hip points or upperportion of the pelvis in a manner equivalent to the belt and buckle. The“grasp” opens laterally to allow entry by the user and ratchets closedto form a firm hold on the user's hip points or upper boney structure ofthe pelvis. The “grasp” is released, allowing exit by the user by a pushbutton, a lever or other mechanism to open the “grasp.” Activation ofthe “grasp” can be through either manual or motorized means.

FIGS. 91-92 show a “capture arm” arrangement that is a combination ofthe “flip” and “grasp” that rotates around both vertical and horizontalaxes on each side of the user and captures the hip points or upperportion of the pelvis in a manner equivalent to the belt and buckle. The“capture arm” opens laterally to allow entry by the user and ratchetsclosed to form a firm hold on the user's hip points or upper boneystructure of the pelvis. The “capture arm” is released, allowing exit bythe user by a push button, a lever or other mechanism to open the“capture arm.” Activation of the “capture arm” can be through eithermanual or motorized means.

FIGS. 93-96 show various exemplary Upper Pelvis Capture integrated intothe Walking Seat assembly. While the above discussion illustrates how tosecure the user's pelvis and center of gravity by means of a “walkingseat” and an upper pelvis capture mechanism. The user's pelvis issecured by such a means as to allow the user to walk with proper gaitand with proper posture. In contrast to a belt and buckle systemconnected to side frames that in conjunction with the walking seatsecures the user's pelvis, the system of FIGS. 93-96 uses the samewalking seat (and variations) as the original patent but innovatesfurther by integrates the pelvis capture means into the walking seatassembly directly. These embodiments enable the pelvis captureinnovation to go beyond mobility. It frees the primary innovation ofcapturing the user's pelvis from the mobility device and makes itavailable to many other use cases where a comfortable alternative tositting is desirable.

From furniture, to comfortable means to stand for any and all situationsas an alternative to sitting. Some examples include office, school,factory floor, transportation, entertainment, and retail to name a few.These embodiments work for any and all applications where it may be moredesirable to stand than sit. These embodiments are also applicable forsituations where individuals predominantly stand and could benefit fromreduced fatigue of the legs by having weight bearing fully or partiallyremoved from the legs. Some examples in retail clerks, law enforcementofficers, warehouse and factory workers, teachers, doctors, dentists andmany others. FIG. 96 shows an isolated view of the upper pelvis capturearrangement integrated into a walking seat assembly.

FIG. 97 shows an exemplary support device for Standing (No Wheels). Theabove discussion shows the means to secure the user's pelvis and centerof gravity by means of a “walking seat” and an upper pelvis capturemechanism. While the combination of “walking seat” and an upper pelviscapture mechanism combination enables walking, it also supports standingin the body's optimal position where it works most efficiently andeffectively. The user's pelvis is secured by such a means as to allowthe user to stand with proper posture while allowing all of the body'sfunctions to work better. Standing in the position provided by thismeans allows improved circulation, improved respiration, improveddigestion, and other body functions. When the body operates moreefficiently, it can heal faster and operate better. In the embodiment ofFIG. 97, the wheels are replaced by legs with base pads or any othersuitable floor contacting surfaces to secure the support device to thefloor for standing purposes. The standing versions can be consideredfurniture since its utility is no longer geared towards mobilitypurposes.

FIG. 98A-98C show another embodiment for Rehabilitation Use (No Wheels).FIG. 98A shows the “grasp” mechanism with allow ratcheting with a pushbutton release. The embodiment grasps onto the user's hip in place of abelt. FIG. 98B shows a version with belts in place of the grasps, andFIG. 98C shows a user on the walking seat secured by the belt. The“walking seat” and upper pelvis capture mechanism combination enableswalking not only while using the device on wheels but also while usingthe device without wheels and walking using a treadmill. The walkingseat and upper pelvis capture combination as described in the previousdisclosures has been found to position the user's body in its optimalposition where it works most efficiently and effectively. By stabilizingthe pelvis and center of gravity, the embodiment enables an idealposition for rehabilitation as a part of a treadmill. The system allowswheel free walker to be used for rehabilitation, including use with atreadmill. Because the user's body is operating optimally and held inthe proper postural position while exercising (such as on a treadmill)enabled by the innovation, even severally debilitated individuals can beretrained for a proper gait, regain endurance and rapidly improve incapability. So the new disclosure is for the stationary use of thetechnology for rehabilitation activities such as walking on a treadmill.FIGS. 98B-100C show another exemplary furniture embodiment that supportsthe user. The “walking seat” and upper pelvis capture mechanismcombination has been found to place the user's body in the optimalstanding posture, ideal for furniture applications where individualsdesire a comfortable alternative to sitting. Because the user's body isoperating optimally and held in the proper postural position while inthis new class of furniture enabled by the innovation, there is theopportunity to provide broad benefits to everyone who desires to standcomfortably for extended periods and avoid excess sitting. Standing inthe position provided by this means allows improved circulation,improved respiration, improved digestion, and other body functions. Whenthe body operates more efficiently, it can operate better. Excesssitting has been compared to smoking for its negative impacts on healthand “ . . . increases the risk for developing dozens of chronic diseasesfrom cancer and diabetes to cardiovascular disease and non-alcoholicfatty liver disease. The furniture embodiment of FIGS. 100A-100C can beuse in applications where chairs and other devices for sitting arecurrently used. This application allows all members of the generalpopulation to benefit by avoiding excess sitting and the long-termadverse health effects of sitting too much.

FIG. 99 shows an exemplary walking device with Functional ElectricalStimulation (FES). A joystick or a smartphone can be used to control thewheels of a powered version of the walking device. The embodiment ofFIG. 99 uses FES to control and drive the legs of paraplegic or otherindividual who has difficulty directly moving the legs themselves. So,instead of driving wheels, the joystick or smartphone application isconnected either through wires or wireless means to electrodes that makethe leg muscles operate in the proper sequence to walk, stand, andotherwise move about. The “walking seat” and upper pelvis capturemechanism combination can place the user's body in the optimal standingposture and to enable proper gait while securing the user's center ofgravity. While the walking device maintains the center of gravity,maintain balance, enable proper gait and proper posture, the FESelectronics with wireless or wired electrodes can sequentially stimulatethe muscles to enable walking. A joy stick or a smartphone applicationcan provide control for the direction and speed of walking. Instead ofdriving the wheels, the FES embodiment helps the leg muscles to move anddrive the walking device forward.

Embodiments provide a control system for a FES system that is capable ofproviding safe and effective stimulation of muscles which may bedescribed as reliant on a combination of applied stimulation and passivestimulation. With the walker, the system can provide near isokinetictraining which may be applied using a set of rules-based programs ofexercise therapy that recommend certain programs for certain patients.In various embodiments, the FES module applies slow velocity isokineticexercise (e.g. FES-induced cycling at 5-25 rev.min-1) to build musclestrength and bulk, medium velocity isokinetic exercise (e.g. FES-inducedcycling at 25-40 rev.min-1) to promote leg muscle fatigue-resistance,and fast velocity isokinetic exercise (e.g. FES-induced cycling at 40-60rev.min−1) to promote enhanced cardiorespiratory fitness.

The FES can be used in a motor-less walker or a motorized walker inwhich there is combined the use of a motor driven exercise machine withthe user connected to an FES system via electrodes for activatingselected muscle groups corresponding to those to be used on the walker.In at least a preferred embodiment, a control system is deployed thatreceives signals via closed loop feedback, indicative of the user'sperformance during exercise, and the system controls the FES pulses tothe user to maintain a substantially isokinetic exercise regime wherebyaverage power output and/or average torque is the controlled outcome.The controlling of the FES signals, advantageously, can be bymanipulating current amplitude and timing and obtaining biofeedback toassist the user to perform exercise. The FES system can elicit musclecontractions for a paretic or paraplegic user, but in the alternative,the system can be applied to those with impaired or normal voluntarymuscle activation wherein the FES system simply assists such musclecontractions via sensory biofeedback.

One FES embodiment provides a method of operation and a control systemthat establishes substantially isokinetic FES-induced exercising. Thisapproach is believed to provide a significantly enhanced therapeuticeffect compared with conventional exercise regimes. In one embodiment,the FES unit and the walker maintain a constant speed, for example aparticular distance over a predetermined interval of exercise such as 30minutes. When muscle power is generated in excess of that required tomove the legs, the adaptive control loop operates to adjust both currentto the motor to maintain constant velocity and regulate FES pulses tothe legs to maintain constant average power output. By simultaneouslycontrolling both the motor and the stimulation pulses, the system canmaintain both constant velocity and constant power/torque outputregardless of whether the user can provide voluntary contractions inaddition to those generated by electrical stimulation (i.e. FES). Inother implementations, the FES and walker control an exercise regime topermit muscles to perform a lengthy exercise session by arranging forrelatively low speed initially with subsequent exercise at higher speedto materially avoid premature fatiguing, thereby permitting moreeffective muscle training over an extended period. The system can beapplied in exercise regimes to recognise that different types of therapycan be achieved at different velocities of limb movements. For example,training at a relatively high speed will promote cardiorespiratorytraining, whereas slower speeds enhance the development of muscularstrength. This speed-relative training can be applied to forms oftherapy that utilise FES-induced muscle contractions, or therapies thatemploy voluntary muscle contractions by users.

In one aspect, the invention may be defined as consisting of anapparatus comprising a motor-driven walker machine, a functionalelectrical stimulation (FES) system for delivering stimulation tocorresponding muscles of the user, and a control system to monitor thepower applied to the electrical drive system of the motor as well as tocontrol the timing, nature and duration of the FES pulses. The motor andFES control system act in response to measured performance, whereby thepedalling velocity is maintained at a user-specified substantiallyisokinetic rate while the muscles are simultaneously kept operating at aconstant average power/torque output.

In one embodiment, there is provided an apparatus which includes amotor-driven exercise machine, an FES system for providing skin/musclesensory biofeedback over corresponding muscles of a non-paralysed userand a feedback control system monitoring the power/torque applied to theelectrical drive system of the motor to control the timing, nature andduration of the low current amplitude FES pulses in response to measuredperformance output by the user on the machine, whereby the speed ofoperation of the exercise machine can be pre-set to a desired constantvelocity and substantially isokinetic FES exercise is thereby achieved.For paralyzed users; in this case, the system may be defined asconsisting in an apparatus including a motor-driven walking machine, anFES system for the activation of corresponding muscles of a paralyseduser, and a feedback control system monitoring the power/torque appliedto the electrical drive system of the motor to control the timing,nature and duration of the FES pulses in response to measuredperformance output by the user on the machine, whereby the speed ofoperation of the exercise machine can be pre-set to a desired constantvelocity and substantially isokinetic FES exercise is thereby achieved.In one embodiment, a system provides Progressive Resistance IsokineticTraining (PRIT) with the walker. PRIT allows training individuals withneuromuscular disabilities such as spinal cord injury, hemiplegic strokeor traumatic brain injury in a new and valuable way using FES. FESinduces leg muscle contractions, during constant-velocity leg movementwith the walker, under control of a computer with purpose built softwareto achieve substantially isokinetic exercise.

The portable mobility assistance device allows individuals to move aboutin a standing or partially standing posture supported in a manner thatcan significantly reduce the stresses and discomfort on ankle, knee,hip, wrist, elbow and shoulder joints or at the interface with aprosthetic leg. The device potentially reduces or eliminates thedependency on a wheelchair for mobility. Because of its compact size,maneuverability, and the standing or partially standing posture of theuser, the device can potentially enable the user to avoid costlyrenovations to house and office that would otherwise be necessary if theuser was wheelchair bound. The device allows the arms of the individualto be more available to use for other purposes while in use. Thepreferred embodiment also provides stable support while traversingwheelchair accessible walkways, ramps, paths, rooms and other indoor andoutdoor facilities as well as (when appropriately outfitted) over avariety of other terrain. Additionally, the device is foldable into acompact form and capable of being conveniently transported such as in anautomobile trunk or as a checked item for an airplane. The systemsupports a disabled or elderly person during ambulation so that he orshe can walk or exercise while minimizing risks of falls or injuriesrelated thereto. The mobility device reduces the user reliance on thewheelchair. By encouraging the user to walk with aided support by thesystem, the system reduces causes of skin sores. The system encouragesactive walking with attendant increased blood flow. Pressure on thebuttock is reduced, and blood circulation is enhanced to minimizepressure or skin sores. The device minimizes skin sores as it eliminatesprolonged pressure and wetness on the skin.

The walking assistance device has many other benefits. For example, theproportion of weight supported by the device can be variable. Forexample, individuals may prefer the device to support about 50% of theirweight and therefore adjust the height to posture themselves accordinglyin the device. It is totally up to the user and their managing healthpractitioner to decide what portion of the weight to remove from thelegs. This distribution can be varied by the individual by the heightadjustment prior to use as well as posture during device use.

The wheel assemblies 7 and 8 allow natural fluid transfer of the deviceforward, backward and turning motions with minimal force driven throughthe individual's legs and without the necessity of using the arms. Thebelt 2 and harness 23 use buckles similar to those used in automotive oraircraft seat belts (of the non-retractable type). This allows theindividuals to get secured into and out of the device quickly and tomake adjustments easily. Because walking seat 1 with belt 2 and harness23 are load-bearing, comfort is very important. Walking seat 1 employscushioning and other features similar to those on bicycle seats forcomfort and freedom of leg movement. The preferred embodiment figuresshow a truncated walking seat front to free legs for easy and fullmovement and a cut-away for long-term comfort by avoiding excesspressure on the tailbone, but any number of alternative walking seatdesigns is possible. Harness 23, is designed to cushion and distributethe individuals weight for extended time use. The harness 23 can combinefeatures of a bungee trampoline harnesses and rock and mountain climbingharnesses.

Users of the device are able to relax and use a resting sling seat 13when not needing or wanting to be moving. Seat 13 allows the individualto be in a stationary and seated position (thighs positionedapproximately horizontally, feet comfortably on the ground).

Powered sled assembly 43 and controller unit 43 g are of a similardesign to analogous components of a battery operated wheelchair. Thisincludes standard rechargeable batteries, drive motors and circuitboards, joystick controller, and other components commonly found inbattery operated wheelchairs. The power drive wheels 43 d are attachedto independently controlled and operate gearboxes that allowdifferential speeds and can also operate in opposite directions (to turnaround in a tight radius). While the frame and sled cover 44 of thepower sled assembly 43 are unique to the devices 60 and 70, the othercomponents are purchased and are also used in other devices.

The construction details of the preferred embodiment, as shown in FIG. 1through FIG. 81, include structural tube members welded, fused, pinnedor otherwise fastened securely in place. These materials can optionallybe metals (such as aluminum, steel, titanium or another alloy, forexample), lightweight composite material (such as graphite, fiber glassor carbon fiber, as examples), reinforced resin (structural “plastic”for example), or a combination thereof. The ideal construction will beof lightweight materials which are still very structurally strong andrigid, however, as with other devices, there is generally a trade offbetween weight and costs which is a major consideration in the choice ofmaterials.

In one embodiment, an overall approximate size of the mobilityassistance device 10 is approximately 21 inches wide by 25 inches deepby 32-42 inches (adjustable) tall. Mobility assistance device 20 isapproximately 21 inches wide by 25 inches deep by 32-42 inches(adjustable) tall. These can be scaled up or down to accommodate largerof smaller individuals.

The wheels can be constructed of metal or structural plastic and includerubber tires (of pneumatic, solid or other construction) and be sizedaccording to intended use (smaller wheels, such as 4 inch diameter, maybe suitable for indoor use while larger wheels, such as 8 inch or largermore appropriate for outdoor use).

The harness 23, belt 2, sling seat 13 and latching straps 25 would beconstructed primarily of lightweight and strong fabric such as nylon orthe like and could incorporate cushioning, wire, cable, rubber orplastic components to provide shape, strength, comfort or adjustability.

The mobility assistance devices 10 through 70 are sized to comfortablyaccommodate full grown adults including those of above average heightand above average weight. The adjustability for height allows a commondesign to accommodate significant variation from below average to aboveaverage height in the user base. Adjustability for height can be up to+/−4 or more from a nominal device height.

The harness 23 can accommodate waist sizes from approximately 28 inchesthrough 42 inches, or larger (more comfort can be derived by providing agreater range of sizes). Harness 23 and walking seat 1 may be furthermodified to accommodate more comfortably the anatomical differencesbetween men and women.

Because the wheel assemblies 7 and 8 are relatively distant from thecenter of gravity of the device (approximately 12-15 inches), the deviceis very stable and not prone to tipping even when the operated on theincline of a conforming wheelchair accessible ramp.

The preferred embodiment allows the person transporting the device tooptionally use the wheels to roll the device rather than carry it.

The wheels may be of a different characteristic for those individualswho would like to use the device outdoors as compared to thoseindividuals who would predominantly use it indoors.

Variations of the device would include various options for brakes,suspension systems (to reduce jolts from mismatch pavement and otherbumps), as well as other options that would add to the convenience andcomfort of the individual (such as baskets, bottle or cup holders,mobile phone/device stand, umbrella holder, etc.). These variations arenot shown in the figures, but are envisioned for the device. Forexample, in some embodiments of the mobility assistance device 10, apocket assembly is provided on the inner surface of one of the frames 3.The pocket assembly includes an elongated first pocket attachment stripwhich is secured to the frame 3 according to the knowledge of thoseskilled in the art, such as using an adhesive, for example. An elongatedsecond pocket attachment strip can be attached to the first pocketattachment strip. In some embodiments, the second pocket attachmentstrip is detachably attached to the first pocket attachment strip. Oneor more pockets can be provided on the second pocket attachment strip inadjacent relationship with respect to each other. Accordingly, variousitems (not illustrated) can be placed in the pocket or pockets when auser deploys the mobility assistance device 10.

There are other ways to connect the belt 2 to the side frames (3 forexample) and other belt and buckle designs available. The one shown inthe figures is one of the simpler configurations. As an alternative forattaching the harness 23 through latching straps 25, cables, rope,webbing or a simple direct latch to the structural through other meansare available to equivalently perform this connection.

There are other ways of orienting the side frames. They couldequivalently be positioned in front and behind the user and the userenters the device laterally. The hinge arm mechanism could be made ofmultiple arms connecting between the frames. The hinge arm could belocated in front of the user rather than behind the user as portrayed inthe figures.

There are other configurations possible connect the sling seat 13 to theside frames. There are multiple ways to accomplish the heightadjustability. There are various configurations of walking seat 1possible, similar to the range of variations available for bicycleseats. There are many possible forms of seat 13, including: rigid andsemi-rigid seats, seats that are attached to the hinge arm membersinstead of the side frames, and rigid seats that fold out of the way,etc. There are other ways to securely fasten the walking seat. The oneportrayed is one of the simplest and most common means available.

While the preferred embodiment 60 or 70 is depicted as a having batteryoperated sled 43 option, the power source could alternatively bedelivered by an electrical cord connected to an electrical outlet, asolar cell, or an internal combustion engine, as examples. Whileportrayed in a sled configuration, alternative configurations could beopen allowing the individual's feet to access to the ground.

Harness 23 could be composed of two or more separable subassemblies, onesubassembly for supporting the individual under the sit bones andanother means (such as belt 2) to hold the individual firmly in place.Additionally, variations of harness 23, include harnesses with anynumber of attachment loops or other means of connecting the harness tothe structural members of the preferred embodiment. This could includeusing weight-bearing “pants” or “skirt” (not pictured), or pneumaticlift belt (not pictured) or other means that allow support of the pelvisand sit bones and transfer of body weight from the legs while stillallowing relatively free movement of the legs.

There are alternative means for height adjustment such as the air springused for seat height adjustment of many office chairs. The devices couldincorporate shock absorbing features in wheel assemblies 7 or 8 tosmooth out the feel over rough surfaces.

The advantages of the preferred embodiment include, without limitation,allowing the individual to move about in a standing or partiallystanding posture for an extended period of time while supporting theirbody weight using a harness or walking seat and belt. This reduces painand discomfort on associated joints or from a prosthetic interface.Additionally, many individuals simply would prefer to move about in amore erect standing posture rather than to be seated in a wheelchair orscooter.

Additionally the device is designed to support a complete rehabilitationcycle, from the first days of treatment when a user is very limited inuse of a leg or joint and getting acclimated to moving with theincapacity to the final and full recover of the affected function.

A significant benefit of the preferred embodiment is, because the devicedoes not rely on the arms or shoulders to bear weight or maneuver thedevice, the individual has more freedom of movement and use of theirarms for other purposes. The individual is able to walk and maneuver thedevice while keeping the hands generally free for other uses. Thispotentially allows individuals to more actively participate in manycommon activities otherwise only achieved with significantly greaterdifficulty without the preferred embodiment. By standing supportedthrough the pelvis capture means, the body is in its optimal posture foroperation of all basic functions including respiratory, circulatory,digestive and other systems and because the weight is relieved from thelegs, users do not get fatigued nearly so quickly.

Isolating the pelvis capture means for use with any structure allowspeople to be held in the optimal posture for long periods of time. Thisimproves the experiences of people traveling by airplane by helping themavoid the discomfort of long-term sitting. This could improve theexperience of people at events since they can be closer to whatever isgoing on. This could reduce trucker accidents, especially long-haultruckers (not to mention the potential for dramatically improving theirhealth). Thus, the means to capture the pelvis is very powerful tosupport proper body posture and the optimal performance of the body'sbasic functions. Also, the means to capture the weight of an individualthrough the pelvis is very comfortable and through this means standing,even for long periods of time, can be more comfortable than sitting. Thebody has the benefit of operating more efficiently so that energy can goto other activities such as physical (using hands and upper body toaccomplish tasks) and mental tasks (office work, as an example).Additionally because the legs do not get fatigued body does not need tostop, sit or rest so much. This shows potential for great gains inproductivity and for longer periods of activity without straining orfatiguing the body. For walking, this means users can go much furtherbefore reaching fatigue.

The frames and support form with the pelvis capture means can be used asa separate unit completely isolated from the frame itself. So, anystructure can now be designed to make use of the disclosed pelviscaptured means for any of many other situations including transportation(autos, airplanes, buses, trains, etc.), entertainment (auditorium,theater, stadium, etc.), furniture (rolling or stationary, occupationalor home use, etc.), rehabilitation/exercise (treadmill, gait trainers,strength training, etc.)

Some other anecdotal evidence from user trials include: because therepelvis capture means creates a new “base platform” frame of reference,the brain can solve challenges of gait and the movement of the legs fromthe challenges of posture of the upper body. Users brains quickly usethis new base platform to self correct hair problems and posturalproblems. The device helps the brain relearn proper gait and properposture. Even when the user isn't using the device, the gait and postureremains improved. So the pelvis support helps retrain the brain for thelong term.

Another aspect of the pelvis capture is that this allows the user toavoid the degradation of the body inherent from the use of currentworking mobility devices. Current walking mobility devices actually leadusers to further degradation in gait and in posture because they do notuse the pelvis capture means to secure the user. They actually promotebad posture and improper gait because the user's center of gravity isnot contained within the bounds of the device so people tend to leanforward, becoming progressively stooped with head dropping downward.This leads to many unintended posture and gait related problems overextended periods of time. Over the past several years I've witnessedremarkable recovery of capabilities for device users because of thepelvis capture means users in the device. The system supports any andall applications where standing is desirable; where people want to avoidexcess sitting; and when they want to avoid the inherent healthdegrading characteristics of other mobility devices, including bothwheelchairs and walking assistive devices. Various applications of theembodiments have found advantages that may include one or more of thefollowing:

that capturing the pelvis and keeping it stabilized helps the brain toseparate the challenges of walking from the challenges of posture. Thepelvis replaces the get as the reference point from which the brainaddresses challenges with standing and walking. The brain in manyindividuals seems to rapidly learn from information received using thedevice and naturally works to improve gait and improve upper bodyposture. The means of securing the user's pelvis helps realign theuser's posture into a better posture. Initial testing shows that userswith more severe challenges benefit from professional therapy and canmake extraordinary progress in a matter of weeks of once or twice weeklyprofessional sessions. One spinal cord injury patient re-learned propergait and good posture by using the device over a two-week period. Itseemed to become imprinted into his brain so that even when he was nolonger in the device, his gait and posture remained improved. A coupleof weeks later, the same individual showed up at therapy with hishorse's saddle—using the device to carry it into the session. Aremarkable feat that would have been inconceivable just weeks earlier.

that many people with pain due to improper gait and/or improper posturehave marked reduction of pain symptoms when they use the device becauseof the ability of the device to improve gait and posture. In some cases,the reduction in pain is near 100%. One woman with cerebral palsysuffered excruciating pain when she walked ordinarily. Within minutes ofusing the device, her gait and posture were corrected and the pain wasgone She went on to stand and walk in comfort for over an hour with noneed to sit down for a rest.

that for people with balance problems the device can allow them to standand walk with reduced fear of falling. One 53 year-old individual withcerebral palsy and severe balance problems had never stood or walkedhands free in his life, he did so using the device within a minute. Hestayed in the device standing and walking for nearly 4 hours whileexperiencing no pain and using his hands to gesture as he spoke ratherthan to hold on. He refused to get out of the device because of how goodit felt fit him to be comfortably standing. A 60 year old woman withcerebral palsy with even more severe balance problems began walkinghands free within a couple of minutes. She repeatedly “tried to fall”but the device prevented her from doing so.

that the many people who have been using wheelchairs even for decadescan stand and walk with the device. One man with muscular dystrophy hasbeen wheelchair bound for over 40 years. Within a minute of getting intothe device he walked about 30 feet, turned around, and walked back towhere he started. Two women with spinal cord injuries who have beenwheelchair bound for more than 20 years each were able to stand and walkwithin minutes of being in the device. Because of their long termconfinement to wheelchairs, these individuals have atrophied muscles andin the cases of the women with spinal cord injuries the control of legmovement is limited. Nonetheless, all now seem capable to regain theability to walk given adequate personal motivation with extensivetraining and rehabilitation.

that standing in using this device can be as comfortable as sitting formany people. This, we believe, will encourage users to be more active.Many trial users have used the device to stand and move comfortably forextended periods of time without experiencing the fatigue typical ofstanding for long durations. Several people have used the device tostand and move for over 6 hours continuously and reported no fatigue andno desire to sit down. They found the devise to enable standing for longperiods to be as comfortable as sitting.

That people with mobility challenges are often most interested instanding and moving with their hands free in order to do typicalordinary activities of daily living. Walking long distances or overrough terrain is a secondary interest. They are frustrated that they donot have a device that allows them to stand with their hands free to usetheir kitchens, push a grocery cart and select their own groceries andgenerally be enabled to stand and use their hands. People who have triedthe device report that they can cook meals for themselves and others,grocery shop and even play pool!

Additionally, and for example, by remaining mobile in a standing orpartially standing posture, the individual may be able to avoid theretrofit of the individual's kitchen, office or other facilities forwheelchair accessibility. In many cases, it is anticipated that theindividual will be able to make use of standard appliances, restroomsand other conveniences taken for granted by others without mobilityimpairments. There are many other tangible and intangible benefits ofthis preferred embodiment as compared to the currently availablemobility assistance devices.

The preferred embodiment provides for multiple means to allow theindividual to retain a standing or partially standing posture whilebeing securely held in and actively operating the mobility assistancedevice. A harness and walking seat with belt are depicted in thedisclosure as examples, but other equivalent means are available.Additionally, the preferred embodiment provides for multiple designs forthe structural elements to allow for other means to transfer theindividual's weight through the device to the ground or floor. Noneshould be considered as limiting the preferred embodiment from otherstructural designs.

While the foregoing written description of the invention enables one ofordinary skill to make and use what is considered presently to be thebest mode thereof, those of ordinary skill will understand andappreciate the existence of variations, combinations, and equivalents ofthe specific embodiment, method, and examples herein. The preferredembodiment should therefore not be limited by the above describedembodiments, method, and examples, but by all embodiments and methodswithin the scope and spirit of the preferred embodiment.

What is claimed is:
 1. A mobility assistance apparatus, comprising:first and second frames positioned on left and right sides of a user; ahinge arm mechanism coupled to the first and second frames; and asecuring unit coupled to the frames to transfer at least a portion ofthe user's body weight from the legs and to transfer weight through theuser's hip or pelvis to the first and second frame enabling the user tostand or work on a working surface for an extended period withoutrequiring the user's arms to hold the frame.
 2. The apparatus of claim1, walking seat comprising two seat pans mounted on a seat frame, eachsupporting a corresponding side of the buttocks, each of the seat pansindependently pivoting around a horizontal axis while the user walks. 3.The apparatus of claim 1, wherein each frame comprises a height adjusterto adjust a frame height to fit the user.
 4. The apparatus of claim 3,wherein the height adjuster comprises a manual extender with a core anda plurality of openings to select height, or the height adjustercomprises a motorized extender.
 5. The apparatus of claim 4, wherein themotorized extender comprises a linear actuator or a pneumatic pump. 6.The apparatus of claim 1, wherein the hinge arm is foldable andcomprises three hinge points: one on a seat support and two points eachto be connected to one of the first and second frames.
 7. The apparatusof claim 1, wherein each frame has one or more non-moving foot or lockedwheels when stationary.
 8. The apparatus of claim 7, comprising a firstwheel that swivels 360 degrees around a vertical axis and a second wheelthat does not swivel.
 9. The apparatus of claim 7, comprising a brakeassembly coupled to the one or more wheels and controlled by the user tostop movement.
 10. The apparatus of claim 7, wherein at least one wheelis motorized.
 11. The apparatus of claim 1, comprising a joystick or asmartphone application to receive direction command, a display toprovide visual feedback, and a processor coupled to the joystick or asmartphone and the display to guide the user.
 12. The apparatus of claim1, comprising an obstacle warning system.
 13. The apparatus of claim 1,comprising buttons to select move forward, move backward, turn right,turn left, and brake.
 14. The apparatus of claim 1, wherein the framemembers are of identical design and interchangeable.
 15. The apparatusof claim 1, wherein the frames and the hinge arm are collapsible. 16.The apparatus of claim 1, comprising a seat height adjuster including anair spring used for seat height adjustment.
 17. The apparatus of claim1, comprising one or more shock absorbers to smooth out rough surfacerides.
 18. The apparatus of claim 1, comprising a walking seatpositioned on the hinge arm to receive the user at a predetermined pointand a belt to secure the user to the walking seat, the walking seat andbelt operate in concert with each other to transfer weight from theuser's legs, and wherein the walking seat has a predetermined shapeproviding clearance for leg motion.
 19. The apparatus of claim 1,comprising functional electrical stimulation electrodes coupled to legmuscles and actuated by a user to move forward or backward.
 20. Theapparatus of claim 1, comprising attachment arms coupled to the hingearm mechanism or to the first or the second frames.
 21. The apparatus ofclaim 1, wherein the securing unit comprises two flippers each coupledto one frame.
 22. The apparatus of claim 1, wherein the securing unitcomprises two grasping devices each coupled to one frame.
 23. Theapparatus of claim 1, wherein the securing unit comprises a harness orcable coupled to the frames.
 24. The apparatus of claim 1, comprising aseat assembly with belt and buckle integrated therein.
 25. The apparatusof claim 1, comprising a treadmill coupled to the frame.
 26. Theapparatus of claim 1, comprising attachment arms coupled to the frame.27. The apparatus of claim 1, wherein the securing unit is used in atransportation vehicle, an auditorium, a theater, a stadium, a rollingfurniture, a stationary furniture, or an exercise machine.